Heat olive oil in a large stockpot over medium-high heat. Add carrots; saute until well coated in oil, 3 to 5 minutes. Add celery, onion, 1/2 the basil, red pepper flakes, salt, and black pepper. Saute until just soft, about 5 minutes. Add garlic; saute until fragrant, about 2 minutes. Pour in chicken broth, diced tomatoes, crushed tomatoes, bay leaf, and remaining basil. Bring soup to a boil.
Stir corn, zucchini, tofu, and mushrooms into the pot with the soup. Season with salt and black pepper. Bring back to a boil and reduce heat to low. Cover and simmer until flavors blend and vegetable are fork-tender, about 1 hour. Add kale, cover, and simmer until wilted, about 15 minutes more.