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Preheat oven to 450°F.
Combine beans, onion and garlic in a shallow roasting pan. Drizzle with oil; sprinkle with salt and pepper. Toss mixture until beans are evenly coated. Spread into a single layer on bottom of pan.
Roast for 8 minutes. Stir in squash and roast for 5 to 7 minutes more or until vegetables are tender and slightly browned.
Meanwhile, in a small saucepan, bring the vinegar to boiling over medium-high heat; reduce heat. Boil gently for 8 to 10 minutes or until vinegar is reduced by half (vinegar will thicken slightly).
Drizzle the vinegar over roasted vegetables; toss until vegetables are evenly coated.