In a large soup pot over medium-high heat, add the lean ground beef, diced onion, and minced garlic. Stir frequently as the beef cooks, breaking it apart until browned and no longer pink, about 5-7 minutes. Season with salt and pepper, then drain excess grease.

Peel and chop the Yukon Gold potatoes into small 1/2-inch pieces. Set aside.

Add the chopped potatoes, beef broth, condensed tomato soup, and petite diced tomatoes to the pot. Stir in the frozen mixed vegetables, Worcestershire sauce, and dried spices.

Bring the mixture to a boil, then reduce to medium-low. Cover and let it simmer for 30 minutes.

After simmering, taste the soup and adjust seasoning if needed. Serve warm.