In a large pot, heat the olive oil over medium heat. Add the diced onion and sauté until translucent, about 3-4 minutes.
Stir in the minced garlic, diced carrots, and celery; cook for an additional 5 minutes until the vegetables begin to soften.
Add the ground beef or lamb to the pot. Cook, breaking it apart with a spoon, until browned and no longer pink. Drain excess fat if necessary.
Stir in the diced potatoes, tomato paste, Worcestershire sauce (if using), dried thyme, rosemary, and season with salt and pepper. Mix well.
Pour in the beef broth and bring the mixture to a boil. Once boiling, reduce the heat and let it simmer for about 20 minutes, or until the potatoes are tender.
Add the frozen peas and stir to combine. Allow the soup to cook for an additional 5 minutes. Adjust seasoning if necessary.
Serve hot, garnished with freshly chopped parsley.