Toss together corn, potatoes, pepper, zucchini, onion, beans, garlic, lemon, oil, paprika, nutritional yeast, salt, and pepper. Divide mixture in half and spoon onto the center of each piece of foil. Pull the ends of the foil pieces up to wrap contents (add a second layer of foil if needed) and place each packet on the grill. Cook until potatoes are tender, about 35-45 minutes.