Heat oil in a large pot over medium heat. Add onion, carrot and celery; cook, stirring, until starting to soften, about 3 minutes. Add garlic, Italian seasoning, pepper and salt; cook, stirring, for 1 minute. Add broth and tomatoes with their juices; bring to a boil. Stir in squash, bell pepper, kale and pasta. Return to a boil, reduce heat to maintain a lively simmer and cook, stirring occasionally, until the vegetables and pasta are tender, about 10 minutes. Remove from heat and stir in beans and vinegar.