Roasted Vegetable and Sausage Lasagna

2 zucchini, sliced lengthwise into 1/4-inch planks 1 large eggplant, sliced lengthwise into 1/4-inch planks 2 tablespoons extra-virgin olive oil, plus for drizzling Kosher salt and freshly ground black pepper 1 1/2 pounds sweet Italian sausage, casings removed 2 cups ricotta 2 tablespoons chopped fresh parsley 1 egg One 32-ounce jar marinara sauce 1 box no-boil lasagna noodles 2 cups shredded mozzarella 1/2 cup grated Parmesan