In a large pot, crumble sausage and cook over medium-high heat until browned. Add garlic and salt and cook 1 minute.
Add broth, milk, tomatoes, pasta and pesto and bring to a boil over medium heat. Cook, stirring frequently, for about 10-12 minutes until pasta is cooked and liquid has reduced and thickened. If the liquid has absorbed and the pasta is not cooked, continue adding 1/4 cup of liquid and cooking until cooked through -- keep in mind the pasta will thicken as it sits.