Heat an extra-large skillet over medium. Add the first five ingredients (through thyme); cook 10 minutes, stirring often and adding water, 1 to 2 Tbsp. at a time, as needed to prevent sticking.
Add zucchini; cook 10 minutes more or until zucchini is tender. Stir in chickpeas, marinara sauce, and vinegar. Season with salt and black pepper. Heat through. Serve immediately garnished with basil.
