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1. Preheat grill and lightly oil rack. Grill bread slices on rack over moderately high heat, turning once, until golden brown, about 3 minutes. Immediately rub both sides of each slice with cut side of garlic; transfer to serving plates.
2. Arrange all vegetables except tomatoes on lightly oiled rack, season with salt and pepper and grill, turning once, until just tender and golden brown, about 4 minutes for squash and zucchini, 5 minutes for eggplant and bell peppers. Transfer to cutting board and cut into 1-inch pieces.
3. Toss grilled vegetables with tomatoes, cheese, arugula, basil, and vinegar in a bowl; salt and pepper to taste. Mound salad on each bread slice and serve. Makes 6 servings.