In a large soup pot, heat over medium-high heat. Add the ground beef, diced onion, minced garlic, and salt, cooking until the beef is no longer pink, about 5 to 7 minutes. Drain excess grease.

Peel and chop the Yukon Gold potatoes into small (1/2-inch) pieces. Set aside.

Add the chopped potatoes, beef broth, condensed tomato soup, petite diced tomatoes, frozen mixed vegetables, Worcestershire sauce, dried parsley, and dried basil to the pot. Stir well.

Increase heat to high and bring to a rapid boil for about 5 minutes. Reduce heat to medium-low, cover, and let simmer for at least 30 minutes.

Uncover and stir, taste, and adjust seasoning as necessary before serving.