Combine chopped rosemary, brown sugar, cumin, pepper, paprika, and salt. Rub mixture all over meat. Heat oil over medium-high heat in a large pot. Add seasoned meat and brown on all sides. Add broth, 2 cups water, and tomato sauce. Bring mixture to boiling; reduce heat. Simmer, covered, for 1 hour.
Add potatoes, carrots, celery, parsnip, and onion to pot. Bring stew to boiling; reduce heat. Simmer, covered, 1 hour more or until vegetables are tender. Garnish with fresh herbs, if desired.