Brown the ground beef: Heat a large pot over medium-high heat and cook the ground beef until no pink remains, about 6 minutes, breaking it into small crumbles with a spoon. Drain excess fat if needed.

Cook the onion and garlic: Add the diced onion and minced garlic to the pot and cook, stirring often, until the onion turns translucent, about 4 minutes.

Add tomatoes and broth: Stir in the diced tomatoes and beef broth, scraping up any browned bits from the bottom of the pot.

Add potatoes and seasonings: Stir in the diced potatoes, Worcestershire sauce, chili powder and cumin. Season with salt and pepper to taste.

Bring to a boil: Increase the heat and bring the soup to a boil, then reduce to a steady simmer.

Simmer the potatoes: Let the soup simmer uncovered until the potatoes pierce easily with a fork, about 15 minutes.

Stir in corn and green beans: Add the frozen corn and green beans directly from the freezer and stir to combine.

Add the kidney beans: Stir in the drained and rinsed kidney beans.

Simmer to finish: Simmer the soup another 5 minutes, until the vegetables are heated through and the broth has thickened slightly.

Taste and adjust: Taste the soup and add more salt, pepper or chili powder as needed before serving in deep bowls.