Cut sausage links into 4-inch pieces. Grill or broil until browned on all sides. Mix sausage, tomatoes, onion, garlic, olive oil, vinegar, thyme, rosemary, lemon zest and juice, bay leaves, and a generous sprinkling of salt and pepper in a large heavy pan. Bring to a simmer and cook, partially covered, until tomatoes have broken down and reduced to a thick sauce, about 30 minutes. Drain beans, reserving liquid; stir beans into sausage and tomato mixture. Add enough of the reserved liquid to moisten the dish well. Continue to simmer until beans have heated through, about 10 minutes more. Remove bay leaves and serve with Italian bread.