Heat oil in a large, lidded nonstick skillet on medium heat. Add onion and sauté for 5 minutes. Add garlic, eggplant and red pepper; cover and cook for 10 minutes. Mix in tomatoes, zucchini and thyme, cover again and cook for 12 minutes.
Stir in beans, parsley, salt and pepper, and heat through. For a heartier meal, serve with polenta.