Where do you live? The answer will depend a lot on that.
Don’t worry about the mint. Yes, the mint plants you have now will die, but mint will come back next year (although I don’t know if it comes back from the root or if it self seeds.)
Rosemary will be happiest indoors over the winter unless you live in the south. The fun thing about this is you can trim it into a cone and hang mini Christmas lights from it if you like! To avoid shocking the poor thing, bring it in for an hour or two today and then put it back out, and do it again a little longer tomorrow, until it’s inside for the whole day. Like “hardening”, only in reverse. It may drop a bunch of leaves, but don’t give up on it - they’ve got a lifespan of about 5 years in a pot (outdoors in the Mediterranean, they can live 20 years!), and sometimes go to sleep over the winter, even indoors.
The lavender - it depends on where you live and how big it is and how big the pot is. A well-established shrub in the ground can over winter in most places, but a baby plant or one in a small pot might not make it. I would at least move it to a well sheltered spot near a house wall - if you have a dryer vent on a wall that doesn’t get a lot of wind, it might be ideal.
Pesto’s your best plan for the basil. Basil leaves don’t freeze well, but prepared pesto does.