Rosemary Beef with Root Vegetables

Name: Rosemary Beef with Root Vegetables
Ingredients: 1 pound new potatoes, quartered; 3/4 pound parsnips, cut diagonally into 1 1/2-inch pieces; 1/2 pound carrots, cut diagonally into 1 1/2-inch pieces; 4 teaspoons chopped fresh rosemary, divided; 1 teaspoon salt, divided; 3/4 teaspoon freshly ground black pepper, divided; 3 teaspoons olive oil, divided; Vegetable oil cooking spray; 1 pound beef (center-cut eye of round roast), about 3 inches in diameter; 1 teaspoon finely chopped garlic; 1/2 cup nonfat plain Greek yogurt; 2 1/2 tablespoons drained bottled horseradish; 2 teaspoons white wine vinegar; 2 tablespoons snipped fresh chives or chopped fresh parsley