Heat olive oil in a large pot over medium heat until warm. Add onion, garlic, ginger, cumin, coriander, sage, rosemary, and cinnamon sticks. Cook and stir for 5 minutes, or until onion is tender and translucent.
Stir in vegetables, chickpeas, tomato, apricots, orange zest, and water. Bring mixture to a boil, reduce heat to medium-low, cover, and let simmer for about 30 minutes, stirring occasionally, until the veggies are tender.
Remove lid and simmer for another 15 minutes. If it looks too watery, remove 1/2 cup of liquid and reserve in separate bowl. Whisk the arrowroot starch into this reserved liquid and then add it back to the main saucepan.
Once desired thickness is achieved, add sea salt and cayenne to taste.
Remove the stew from heat, remove cinnamon sticks, and serve warm over quinoa, brown rice, or other whole grain.