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Place 2 sheet pans in the oven and preheat to 425°F.
Combine the bell peppers, eggplant, zucchini and red onion in a large bowl. Drizzle with the olive oil and sprinkle with the Italian seasoning, salt and pepper and toss to coat.
Carefully divide the vegetables between the 2 hot sheet pans, then arrange the sausage throughout.
Roast for 15 minutes, then remove the pans from the oven, toss the vegetables and sausage and scatter the cherry tomatoes over the top.
Return to the oven and continue roasting until the sausage is cooked through and the vegetables are caramelized and tender, about 15 more minutes.
Drizzle the vegetables and sausage lightly with balsamic vinegar.
Transfer to a platter and sprinkle with the basil.
Serve with crusty bread and grainy mustard.