Line a broiler pan with foil; coat with cooking spray.
Place eggplant and next 4 ingredients (eggplant through garlic) on prepared broiler pan. Broil vegetables 5 minutes on each side or until lightly browned. Remove from heat. Crush garlic cloves; set eggplant mixture aside.
Heat oil in a large nonstick skillet over medium-high heat. Add shrimp; saute 1 minute. Add eggplant mixture, tomatoes, thyme, and pepper. Reduce heat; cook 4 minutes or until thoroughly heated. Stir in olives.