Heat the olive oil in a large pot or Dutch oven over medium heat. Add the diced onion and garlic, sauté until softened and fragrant, about 3-4 minutes.
Add the ground lamb or beef to the pot. Cook, breaking it up with a spoon, until browned and cooked through, about 5-7 minutes. Drain any excess fat if necessary.
Stir in the diced carrots and potatoes, and cook for another 5 minutes, allowing them to soften slightly.
Add the tomato paste, Worcestershire sauce, dried thyme, dried rosemary, salt, and pepper. Stir well to combine.
Pour in the beef broth and bring the mixture to a boil. Once boiling, reduce the heat and let it simmer for 15-20 minutes, or until the vegetables are tender.
Add the frozen peas and cook for an additional 5 minutes.
Taste and adjust seasoning if necessary.
Serve hot, garnished with fresh parsley if desired.