I just use a jar of satay marinade as the sauce. Nothing special, I don’t bother to make the sauce myself.

All-veg satay for me is diced onion, caramelized in a spoon of tomato paste, 1 cup of mixed frozen veg (pea, corn, carrot), 1 cup frozen green beans, 1 can drained chickpeas, 1/4 cup red lentils (dried), as car of satay marinade, half a jar of water, a bit of extra garlic, salt, pepper, and a few tablespoons of cornstarch slurry to thicken it up if it’s too loose, or a few cubes of frozen coconut milk if it’s too dry. 1/3 cup of rough chopped boiled peanuts if I have them.

I have a tray of this in the food dehydrator now, to dehydrate into backpacking meals.