Cut chicken into 1/2-inch cubes; cover and set aside. Heat oil in large nonstick skillet over medium-high heat.
Add eggplant and onion; cook and stir 5 minutes. Add garlic, mushrooms, broccoli, zucchini, red pepper, basil and ground pepper; cook and stir 4 minutes.
Reduce heat. Cover and simmer until vegetables are crisp-tender, about 4 minutes. Add chicken and tomato; heat through. Serve over rice.