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In large skillet, heat olive oil; add onions and sauté over medium heat until tender (4-5 minutes). Break each sausage link into 16 small pieces and form into balls. Add to skillet with chicken broth and escarole; cover and simmer 8-10 minutes, stirring occasionally.
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Stir in pasta sauce, orzo, and balsamic vinegar; simmer until heated through (10-12 minutes).
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Spoon into serving bowls and garnish with grated cheese.