Make the quick pickled carrots. In a medium bowl, combine the shredded carrots with 3 tablespoons of vinegar and set aside.
Cook the udon noodles. Bring a pot of water to a boil and cook the udon noodles according to package instructions. Set aside.
Cook the tofu. While the water is heating for the noodles, cook the tofu. In a large skillet, heat 1 tablespoon of peanut oil over medium heat. Add the tofu and season with a pinch of salt. Cook until the tofu is golden on all sides, then set aside.
Cook the zucchini. In the same skillet add the zucchini along with 1/4 cup of water. Season with a pinch of kosher salt and a quick sprinkle of black pepper. Cook for about 3 minutes, stirring frequently until the zucchini has softened a bit and has a touch of golden color. Transfer it to a bowl and set aside.
Make the peanut sauce. In the same skillet, add another tablespoon of peanut oil. Add the garlic, ginger, and curry powder. Stir around a bit until fragrant, about 30 seconds. Add 1 cup of water, the peanut butter, soy sauce, sugar, and the remaining 3 tablespoons of vinegar. Mix together with a whisk until combined, then bring to a simmer and cook, stirring occasionally, until the sauce has thickened a bit, about 3 minutes. If the sauce gets too thick, add more water to loosen things up a bit.
Add noodles and veggies. Add the cooked udon noodles to the skillet and toss to coat with the peanut sauce. Stir in the tofu and zucchini, tossing everything together to ensure everything is warmed through and coated in the peanut sauce.
Dig in. Serve the peanut noodles topped with shredded carrots, scallions, a drizzle of sesame oil, and a squeeze of a lime wedge.