Preheat oven to 200 degrees C. Line a baking tray with baking paper.
Place eggplant, zucchini, tomatoes, onion, capsicum and garlic in a single layer on the prepared baking tray. Drizzle with olive oil, rosemary, salt and pepper; toss vegetables until well coated.
Roast in the preheated oven until slightly tender; about 20 minutes. Mix and roast for another 12 minutes. Reduce heat to 150 degrees C and cook until vegetables begin to caramelise; about 10 minutes. Drizzle with balsamic vinegar.