Preheat oven to 425° F. Coat two rimmed baking sheets with cooking spray; set aside.
In a large bowl, whisk together vinegar, oil, garlic, oregano, rosemary, salt and pepper. Add zucchini and eggplant; toss well. Divide mixture between prepared baking sheets; bake 10 minutes.
Divide tomatoes between baking sheets; stir and bake until vegetables are tender, 10-15 minutes.
Spoon vegetables into a serving bowl; stir in basil. Serve hot or at room temperature.