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In a skillet over medium heat, cook and crumble the ground sausage until fully browned. Drain off any excess fat to reduce greasiness and set aside.
Transfer the cooked sausage to the slow cooker. Add diced carrots, diced celery, diced onion, minced garlic, Italian seasoning, salt, pepper, balsamic vinegar, chicken broth, fire roasted tomatoes, and tomato paste. Stir well to combine.
Cover the slow cooker and cook on low heat for 6 hours. This allows the flavors to meld and the vegetables to soften thoroughly.
After 6 hours, add the sliced zucchini and yellow squash to the slow cooker. Continue cooking on low or high for an additional 45 minutes, until the squash is tender but not mushy.
Once cooking is complete, taste and adjust seasoning if needed. Ladle the soup into bowls and serve warm for a comforting meal.