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Heat olive oil in a large stockpot or Dutch oven over medium high heat. Add sausage and onion, and cook, stirring frequently, until sausage is lightly browned, about 3-4 minutes.
Stir in garlic until fragrant, about 1 minute.
Stir in chicken broth, tomatoes, milk and pasta; season with salt and pepper, to taste. Bring to a boil; cover, reduce heat and simmer until pasta is cooked through, about 12-14 minutes.
Stir in cheese until melted, about 2 minutes.
Serve immediately.