Preheat grill for direct heat. Brush eggplant, zucchini, squash, onion, and tomatoes with oil. Season with salt and pepper. Grill, flipping once, until lightly charred and tender, about 5 minutes. Transfer to a cutting board and coarsely chop. Place bulgur in a container, and pour vegetables and accumulated juices on top. Sprinkle with lemon juice and drizzle with oil. (Store in refrigerator up to 2 days; let come to room temperature before serving.)
Brush both sides of baguette with oil. Grill, flipping once, until edges are crisp and charred, 3 to 4 minutes. Rub top of bread with garlic; cut into 1/2-inch croutons. (Store at room temperature up to 2 days.) Top salad with basil and croutons before serving.