MARINADE: Whisk together all of the Balsamic Marinade ingredients in a medium bowl. Remove 2 tablespoons to a large bowl along with tomatoes, asparagus, zucchini, 1 tablespoon olive oil, 1/2 teaspoon salt and 1/4 teaspoon pepper. Toss evenly to coat. Refrigerate. Add remaining marinade to a large Ziploc bag along with chicken. Marinate 2-8 hours.
CHICKEN: When ready to cook, let chicken sit at room temperature for 15-30 minutes. Heat a large non-stick skillet over medium high heat. Once very hot, add chicken and cook, undisturbed for 3-5 minutes, or until nicely browned (or blackened if you prefer) on one side. Turn chicken over, cover, and reduce heat to medium. Cook for approximately 5-7 more minutes (depending on thickness of chicken), or until chicken is cooked through. Remove to a cutting board and let rest 5 minutes before slicing.
ROASTED VEGETABLES: Meanwhile, preheat oven to 400°F. Add vegetables, garlic, olive oil, reserved marinade, salt and pepper to baking sheet and toss to combine. Line vegetables on a baking sheet in a single layer. Roast for 12-15 minutes or until asparagus is crisp-tender.
PASTA: Meanwhile, cook pasta al dente in generously salted water according to package directions. Reserve 1 cup pasta water before you drain pasta. Add drained pasta to a very large mixing bowl or pot.
ASSEMBLE: Add roasted vegetables and all of the oil/juices/seasonings from the baking sheet to the pasta, along with 1 tablespoon lemon juice, 1 tablespoon balsamic vinegar, fresh parsley, and fresh basil. Add reserved pasta water (a little at a time, I used 1/2 cup) to reach desired consistency. Add desired amount of Parmesan and mozzarella pearls. Taste and add additional salt and pepper, and red pepper if desired.
Optional: Garnish with additional freshly grated Parmesan.