Cook pasta to desired doneness as directed on package. Drain; cover to keep warm.
Meanwhile, heat oil in medium nonstick skillet over medium heat until hot. Add onion and garlic; cook 1 to 2 minutes or until tender. Add eggplant and tomatoes. Bring to a boil. Reduce heat; cover and simmer 10 minutes.
Add zucchini, basil, pepper and salt; cover and cook an additional 5 minutes or until vegetables are crisp-tender. Serve over pasta. If desired, sprinkle with additional chopped fresh basil.