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You will just have steamed cauliflower if you do that. I suppose it would still be edible, but not amazing, like cauliflower roasted in oil would be.
It might work if you line the pan with high-temp parchment paper and place the vegetables on top. Without the oil, the cauliflower is more likely to stick to the pan once the broth-sauce evaporates. If you do decide to roast the cauliflower, I find that covering the pan with aluminum foil for about 10 minutes and then uncovering it until the roasting is complete creates a cooked-through cauliflower with lots of roasted flavor.
you could always use a lower fat oil instead like grapeseed oil or canola oil, and even then cut the amount of oil down and up the amount of vinegar. Because it's being cooked, the vinegar won't be as overwhelming, but you still need some kind of oil to cook the cauliflower properly.