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Preheat oven to 400°. Heat ¼ cup oil in a large, oven-safe skillet (about 12") over medium high.
Working in three batches, add eggplant in a single layer and season with salt and pepper. Cook until golden brown on both sides, flipping halfway through, about 4 minutes per side (you may need to adjust the heat between medium and medium-high as you go). Transfer to a plate. Repeat with remaining eggplant, using ¼ cup oil per batch as needed. Remove skillet from heat.
Add 1 cup marinara to the skillet, scraping up any bits stuck to the bottom. Arrange half the eggplant in a single layer and top with half the mozzarella and ¼ cup Parmesan. Top with remaining eggplant, dollop with remaining ½ cup marinara, and top with remaining ½ cup mozzarella, ¼ cup Parmesan, and basil leaves.
In a small bowl, mix panko and remaining ¼ cup Parmesan with remaining 2 tablespoons oil. Season with salt and pepper and over top skillet. Bake until bubbling and breadcrumbs are golden brown, 10 to 12 minutes. Serve hot with more fresh basil leaves, if you like.