01 - Whisk together balsamic vinegar, olive oil, garlic, rosemary, Dijon mustard, salt, and pepper in a shallow dish or zip-top bag. Add flank steak, turning to coat thoroughly. Marinate in the refrigerator for at least 1 hour, up to 8 hours for optimal flavor penetration.
02 - Heat grill or grill pan to medium-high temperature, approximately 400°F.
03 - Brush zucchini planks generously with olive oil and season evenly with salt and pepper.
04 - Remove steak from marinade, allowing excess to drip off. Grill for 4 to 5 minutes per side for medium-rare doneness, or adjust timing to preferred internal temperature. Transfer to a cutting board, tent loosely with foil, and rest for 10 minutes.
05 - While steak rests, grill seasoned zucchini for 2 to 3 minutes per side until tender and displaying charred grill marks.
06 - Combine feta cheese, Greek yogurt, olive oil, lemon juice, and black pepper in a food processor or blender. Process until completely smooth and creamy, approximately 1 to 2 minutes.
07 - Slice rested steak thinly against the grain. Spread whipped feta across a serving platter. Arrange grilled zucchini and steak slices over the feta. Garnish with fresh mint or parsley and drizzle with additional balsamic glaze if desired.