Cook the rigatoni in well salted water. per package instructions. Drain, reserving 1/3 cup of pasta cooking water.
While the pasta is cooking, heat 1 tablespoons of olive oil in a large skillet over medium-high heat.
Add the onion and zucchini then cook, stirring often, for 3 minutes.
Add the asparagus and sliced garlic and cook, stirring often, for 3 minutes.
Add the crushed red pepper flakes and grape tomatoes and cook, stirring often, for 2 minutes.
Add the drained pasta and the remaining 2 tablespoons of olive oil along with the balsamic vinegar. Add a few tablespoons of reserved cooking water then toss until well coated and reduce heat to medium and cook, stirring occasionally, for 3-5 minutes. Add a little more reserved cooking water, if needed.
Add the basil and pine nuts then season with sea salt and freshly cracked pepper, to taste. Serve immediately with lots of freshly grated parmesan on the side. Enjoy!