In a large pot, heat olive oil over medium heat. Add the diced onion and sauté for about 3 minutes, or until softened.
Stir in the minced garlic and cook for an additional minute until fragrant.
Add the ground beef to the pot. Cook, breaking it up with a wooden spoon, until it is browned and no longer pink (about 6-8 minutes). Drain any excess fat if necessary.
Incorporate the diced carrots, celery, bell pepper, zucchini, and green beans into the pot. Cook for about 5 minutes, stirring occasionally.
Pour in the diced tomatoes (with juice) and beef broth. Add Worcestershire sauce, thyme, basil, salt, and pepper. Stir well to combine.
Bring the soup to a boil, then reduce the heat to low and let it simmer uncovered for 30 minutes, allowing the flavors to meld together.