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In a 3-quart rectangular baking dish, whisk together vinegar, oil, garlic, oregano and salt. Add zucchini (or squash) and onion, stirring to coat. Marinate at room temperature for 10 minutes.
Meanwhile, lightly coat a grill pan or grill wok with cooking spray. For a charcoal grill, preheat grill pan on an uncovered grill directly over medium coals for 15 seconds. Using a slotted spoon, remove vegetables from marinade and place in the grill pan. Reserve marinade. Grill vegetables for 5 to 6 minutes or just until tender and lightly brown, stirring occasionally. Stir in the tomatoes. Grill about 1 minute more or until tomatoes are heated through. (For a gas grill, preheat grill. Reduce heat to medium. Preheat grill pan as directed. Add vegetables as directed. Cover and grill as above.) Remove vegetables from the grill pan. Place on a serving platter. Drizzle reserved marinade over vegetables. Toss to combine.