Roasted Vegetable Meatloaf with Balsamic Glaze

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3 tablespoons olive oil

1 large zucchini, finely diced

1 red bell pepper, finely diced

1 yellow pepper, finely diced

1 yellow onion, finely diced

Salt and freshly ground black pepper

5 cloves garlic, finely chopped

1/4 teaspoon red pepper flakes

2 large eggs, lightly beaten

1 tablespoon finely chopped fresh thyme leaves

1/4 cup chopped fresh parsley leaves

1/2 pound ground pork

1/2 pound ground veal

1 pound ground beef chuck

1 cup panko (Japanese) bread crumbs

1/2 cup freshly grated Romano

1 1/2 cups ketchup, divided

1 cup plus 2 tablespoons balsamic vinegar