In a large soup pot over medium-high heat, add the lean ground beef along with finely diced onion and minced garlic. Cook for about 5-7 minutes, stirring occasionally, until the meat is browned and no longer pink, and the onions are translucent. Drain any excess grease.

Peel and chop the Yukon Gold potatoes into small 1/2-inch pieces. Once the beef is browned and drained, transfer the chopped potatoes to the pot.

Add the beef broth, condensed tomato soup, and petite diced tomatoes directly from the can to the pot. Follow this with the frozen mixed vegetables, Worcestershire sauce, dried parsley, and dried basil. Stir everything well.

Bring your soup mixture to a rolling boil. Once boiling, reduce the heat to medium-low, cover the pot, and let it simmer for at least 30 minutes.

Before serving, taste your Hamburger Soup and adjust the seasoning with salt and pepper as needed.