Preheat oven to 350°F or 175°C.
Add garlic, onion, and spinach to a blender. Pulse a few times to break up into small pieces.
Add chickpeas, peanut butter, water lemon juice, cumin, salt and pepper to a food processor and mix to combine. Do not over-process as you want to keep some texture in there.
Once well incorporated, transfer to a mixing bowl and stir in flour 1 tablespoon at a time until the mixture is thick enough to handle. If the mixture is too wet add more flour, too dry add more water. Taste and adjust seasonings as need
Form balls from the falafel mixture. Use palms to flatten into patties.
Line baking sheet with parchment paper and evenly space out falafel patties. Bake for 20 minutes, flipping halfway.
Meanwhile, heat a skillet with cooking oil over medium heat. Saute onion for 2-3 minutes while stirring. Add garlic and cook for 2 minutes more.
Stir in tomatoes and cook until the tomatoes start to fall apart and form a sauce. Season with oregano, rosemary, salt and pepper to taste. This will take about 10 minutes. Stir regularly. Add a little water if needed.
Spiralize zucchini, In a separate pan/skillet heat cooking oil over medium heat.
Then add zucchini noodles and cook until softened and heated through. This will take about 3-5 minutes. Stir regularly.
Add noodles to a bowl and top with tomato sauce and falafel patties