Toast the Quinoa: Place the rinsed and drained quinoa in a dry medium saucepan over medium heat. Toast for 2-3 minutes, stirring constantly, until the grains are dry and smell fragrant.
Cook the Quinoa: Carefully pour in the low-sodium vegetable broth, stir once, and bring to a boil. Reduce the heat to low, cover the saucepan, and simmer for 15 minutes, or until all the liquid has been absorbed.
Prepare the Vinaigrette: While the quinoa cooks, combine all vinaigrette ingredients (olive oil, lemon juice, lemon zest, garlic, salt, pepper, and fresh herbs) in a small bowl or a jar with a lid. Whisk vigorously or shake the sealed jar until the dressing is well combined.
Steam and Dress the Quinoa: Remove the cooked quinoa from the heat and let it stand, covered, for 5 minutes. Uncover, fluff the grains with a fork, and transfer to a large mixing bowl. Pour about two-thirds of the prepared vinaigrette over the warm quinoa and stir gently to combine. Let it cool for at least 10 minutes.
Assemble the Salad: To the cooled quinoa, add the drained chickpeas, diced roasted red peppers, diced cucumber, and baby kale. Drizzle with the remaining vinaigrette and toss gently to combine.
Garnish and Serve: Just before serving, fold in most of the chopped pistachios and crumbled feta. Transfer the salad to a serving platter and garnish with the remaining pistachios and feta. Serve immediately or chilled.