Preheat oven to 425 degrees. Place the eggplant, mushrooms, onion, bell pepper, and zucchini in a shallow roasting pan.
Combine the oil, vinegar, garlic, and dried rosemary in a small bowl. Drizzle over the vegetables and stir to coat. Sprinkle with salt and pepper, as desired. Roast in oven for 25 minutes until tender, stirring once. Cool slightly.
Heat large, nonstick skillet over medium heat until hot. Place the steak in the skillet for 12-15 minutes, turning occasionally. Remove and let stand for 5 minutes.
Carve the steak into thin slices. Arrange on serving plates with vegetables.