Add the olive oil to a large stockpot or dutch oven set over medium heat. When hot, add in the onion and carrots, and cook for about 5 minutes, under tender. Add in the garlic and cook for 30 seconds, until fragrant. Add in the zucchini, broth, tomatoes, basil, thyme, salt and pepper. Bring the mixture just to a boil, then reduce the heat and simmer for about 10 minutes, until the veggies are tender.
Add in the elbow pasta, the chickpeas, asparagus and peas, and continue to simmer, adjusting the heat as needed, for an additional 7 to 9 minutes, or until the pasta is al dente. Add in the arugula and cook, stirring frequently, until wilted. Remove from the heat. Stir in the lemon juice and additional salt and pepper as needed. Serve as desired.