In a large skillet, heat the olive oil over medium heat. Add the finely chopped onion and diced carrots, cooking until they soften (about 5-7 minutes).
Add the minced garlic and cook for an additional 1-2 minutes, stirring until fragrant.
Increase the heat to medium-high, add the ground beef or lamb, and cook until browned, breaking it apart as it cooks (about 5-7 minutes).
Stir in the tomato paste, Worcestershire sauce, beef broth, thyme, rosemary (if using), salt, and pepper. Simmer for 10-15 minutes until the mixture thickens slightly. If using, stir in the frozen peas toward the end of cooking.
