In a small bowl, combine salt, pepper, rosemary, garlic and olive oil. Crush into a paste by pressing the garlic to the sides and bottom of the bowl with the back of a spoon. Place chicken legs in baking dish and rub all over with garlic rosemary paste, rubbing over and under skin. Allow chicken to marinate for 30 minutes.
While chicken is marinating, combine balsamic vinegar, honey, ½ teaspoon salt, ½ teaspoon pepper and lemon juice in a small saucepan. Bring to a boil and reduce by half, about 15-20 minutes. If using wooden skewers, soak skewers in water to prevent burning while cooking.
Place vegetables and figs in a large bowl. Pour balsamic glaze over; toss to coat well. String vegetables and figs onto skewers, alternating between eggplant, zucchini and figs. Reserve any remaining glaze in bowl.
Pre-heat broiler or prepare grill by heating on high, covered for about 10 minutes. Adjust grill heat to medium high after preheating. Over medium high heat, sear or broil chicken on lightly oiled rack. Turn over once until well browned, cooking for a total of 6-8 minutes. Continue to cook chicken, moving and turning to avoid burning. Grill or broil chicken until it reaches an internal temperature of 170º F, about another 20 to 25 minutes.
When chicken is halfway done, place vegetable skewers on grill or under broiler. Grill, turning often, until vegetables are tender and browned but not falling off of skewers, about 15-20 minutes.
To serve, place chicken on a platter, arrange skewers (or remove vegetables from skewers if preferred) next to chicken. Drizzle warm vegetables with remaining honey balsamic glaze.