Drizzle the chicken legs and sausage links with 1 tablespoon of the canola oil. Season the chicken with salt and pepper. Grill the chicken and sausage until cooked through, 20 to 25 minutes. Remove to a sheet pan to rest for 5 minutes, then slice the sausage into 1/2-inch-thick slices.
In a large bowl, combine the rice, bacon, corn and scallions. Coat a 12-inch cast-iron skillet with 1 tablespoon oil. Add the rice mixture to the skillet and press it evenly onto the bottom of the skillet using a measuring cup. Place the skillet onto the hot grill; do not stir. Let the skillet sit on the heat until a dark brown, crispy crust forms underneath the rice, about 25 minutes.
Toss the zucchini and squash with 1 tablespoon oil and season with salt and pepper. Do the same with the cherry tomatoes. Grill the zucchini and squash until tender, 4 to 5 minutes per side. Grill the cherry tomatoes until beginning to char slightly, about 4 minutes. Remove to the sheet pan with the chicken and sausage.
Scatter the sun-dried tomatoes and fresh herbs over the rice and sprinkle with the lemon zest and juice. Place the chicken, sausage, tomatoes, zucchini and squash onto the rice. Use a spatula to scrape the bottom of the rice from the skillet and toss the mixture before serving.