Heat olive oil in a large pot over medium heat. Add diced onion and minced garlic. Sauté for 3-4 minutes until the onion is translucent.
Add diced carrots and diced celery. Cook for another 5 minutes, stirring occasionally.
Add ground beef or lamb to the pot. Break up the meat as it cooks and let it brown for 5-7 minutes.
Stir in tomato paste, Worcestershire sauce, dried thyme, dried rosemary, and season with salt and pepper. Pour in beef broth and bring to a boil.
Add diced potatoes to the pot. Reduce heat to a simmer and cook for 15-20 minutes until potatoes are tender. Stir in frozen peas and cook for an additional 5 minutes.