In a large Dutch oven or stockpot, heat the olive oil over medium-high heat.
Add the ground meat and cook until browned, breaking it into small crumbles with a wooden spoon for approximately 6-8 minutes.
Add the onion, carrots, and celery to the pot and sauté for 5 minutes until the vegetables begin to soften.
Stir in the minced garlic, tomato paste, thyme, and rosemary, cooking for 1 minute until highly fragrant.
Pour in the beef bone broth and Worcestershire sauce, then add the diced potatoes.
Bring the mixture to a boil, then reduce heat to low, cover, and simmer for 15-20 minutes or until the potatoes are fork-tender.
Stir in the frozen peas and cook for an additional 2 minutes.
Remove the pot from the heat. Temper the Greek yogurt by stirring in a small amount of hot broth, then fold the yogurt into the soup until fully incorporated and creamy.
Season with salt and pepper before serving hot.