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Combine yogurt, tandoori spice and ginger in a large bowl. Divide marinade between two bowls and add shrimp to one and vegetables to the other. Toss to coat. Marinate at least 20 minutes or refrigerate up to 8 hours.
Prepare a grill for medium-high heat cooking or preheat broiler. Separate onion wedges so you have about 20 "petals." Thread shrimp, zucchini, yellow squash and onion petals onto metal skewers. Place skewers carefully on the grill or in a grill basket and grill or broil on a foil-lined baking sheet until the shrimp are cooked through and vegetables are tender, 3 to 4 minutes per side. Serve garnished with cilantro.