Warm the olive oil in a large pot over medium-high heat.
Brown the ground beef, breaking it into crumbles, until no pink remains. Drain excess fat if needed.
Stir in onion, celery, and carrots. Cook until slightly softened, about 4–5 minutes.
Add garlic and tomato paste. Cook, stirring, for 1 minute until fragrant and glossy.
Pour in diced tomatoes and beef broth. Add potatoes, Worcestershire, Italian seasoning, paprika, salt, and pepper.
Bring to a boil, then reduce heat. Cover and simmer until potatoes are tender, 18–20 minutes.
Stir in frozen mixed vegetables. Simmer uncovered until heated through, 5–8 minutes.
Taste and adjust seasoning. Ladle into bowls and sprinkle with parsley. Serve hot.