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Bring a large pot of water to a boil. Add broccoli, mushrooms, carrots and summer squash to boiling water; return to a boil. Cook for 1 to 2 minutes or just until crisp-tender; drain. Return vegetables to the pot.
For vinaigrette, in a small bowl whisk together vinegar, olive oil, pepper, mustard and salt. Add vinaigrette and basil to the cooked vegetables; toss to combine. Transfer vegetables to a serving bowl; sprinkle with feta.