Heat oil in a large saucepan or Dutch oven over medium-low heat. Add beef and onion; saute, stirring, until the ground beef is browned. Add garlic and carrots and cook for 1 minute longer. Add the beef broth and bring to a boil. Simmer for 10 minutes. Add the kale, tomatoes, peas, corn, and seasonings. Cover and simmer for 20 to 25 minutes.