Preheat oven to 400ºF. Cut top 1/2 inch off garlic head to expose cloves. Drizzle with 1 Tbsp. oil; wrap in foil. Roast until cloves are soft and golden, about 35 minutes. Unwrap and let cool.
Bring a small pot of salted water to a simmer. Simmer edamame until tender, 3 to 5 minutes. Drain, spread on a plate and let cool. Squeeze garlic cloves out of their skin into a food processor. Add parsley, 1/4 to 1/2 tsp. pepper, miso, lemon zest, lemon juice and remaining olive oil and edamame to processor; puree until smooth. Serve with pita chips, crudités, or both.