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Preheat oven to 425°F. Place chicken breast halves in a 2-quart baking dish. Drizzle with 2 tablespoons balsamic vinegar and 1 tablespoon olive oil. Sprinkle both sides of chicken evenly with the salt and pepper. Place zucchini, summer squash and garlic in a large shallow baking pan. Drizzle with the remaining 2 tablespoons balsamic vinegar and 1 tablespoon olive oil; toss to coat. Spread vegetables in an even layer.
Roast chicken and vegetables, uncovered, about 20 minutes or chicken is no longer pink (170°F) and the vegetables are tender, stirring vegetables once halfway through roasting time. To serve, place a chicken breast and vegetables on each of four serving plates. Sprinkle the vegetables with basil and Parmesan cheese.