COOK spaghetti as directed on package, omitting salt.
MEANWHILE, heat oil in large skillet on medium heat. Add eggplant, onions and garlic; cook and stir 10 min. Stir in tomatoes, zucchini, vinegar and pepper; cook 10 min. or until vegetables are tender and sauce is thickened, stirring occasionally.
DRAIN spaghetti; place in large bowl. Add sauce, cheese and basil; mix lightly.