Place a large Dutch oven or heavy-bottomed stockpot over medium-high heat.
Add the ground beef and diced onion, cooking until the beef is browned and the onions are translucent, approximately 8-10 minutes.
Drain any excess grease from the pot and return to the heat.
Stir in the minced garlic and cook for 60 seconds until aromatic.
Incorporate the diced potatoes, pinto beans, corn, green beans, and both cans of tomatoes into the pot.
Pour in the beef broth and Worcestershire sauce, then add cumin, chili powder, oregano, salt, and pepper.
Increase heat to bring the soup to a rolling boil, then immediately reduce to a low simmer.
Cover the pot and simmer for 25 to 30 minutes, or until the potato cubes are fork-tender.
Taste and adjust salt or pepper before serving hot.