1. In a large pot or Dutch oven, heat olive oil over medium heat. Add chopped onion and minced garlic, stirring frequently, and cook until softened, about 3 to 4 minutes.

2. Add ground beef to the pot and break into smaller pieces using a wooden spoon. Cook until beef is fully browned, approximately 5 to 7 minutes. Drain excess fat if necessary.

3. Incorporate diced carrots, potatoes, and green beans. Cook for an additional 5 minutes, occasionally stirring.

4. Pour in diced tomatoes with juice and beef broth. Mix in Worcestershire sauce, dried oregano, dried basil, and season generously with salt and pepper. Stir well to combine.

5. Raise the heat and bring contents to a boil. Once boiling, reduce heat to low, cover, and simmer for 20 to 25 minutes until vegetables are tender.

6. Adjust salt and pepper to taste, if needed. Serve soup hot for optimal flavor and comfort.