Raised beds - depth?

Those plants are very shallow rooted.

1 foot would be more than enough.

just be aware of them turning into mini swamps in a wet summer as the water has nowhere to go

Just a thought - raised beds dry out a lot more quickly than you would think so any retention of water by the solid base might help. Because the beds are on a concrete base with planks on the sides, any excess water should drain out from the bottoms of the planks but the base may help to limit this water loss that otherwise would just drain away into the soil below.