Cook the rigatoni to al dente in a large pot of well-salted water, according to the package instructions. Drain, reserving ½ cup of pasta cooking water.
While the pasta is cooking, heat 1 tablespoon 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, the remaining 2 tablespoons of olive oil, along with the balsamic vinegar.
Add some reserved cooking water as needed, then toss until well coated.
Reduce the 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!