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In a large pot or Dutch oven, brown the ground beef over medium-high heat, breaking it into crumbles as it cooks. Drain any excess fat.
Add the chopped onion and minced garlic to the pot with the cooked beef. Cook for about 2-3 minutes until the onions become translucent.
Stir in the diced potatoes, beef broth, dried thyme, dried rosemary, salt, and black pepper. Bring to a boil, then reduce heat to medium-low. Cover and simmer for 15-20 minutes, or until the potatoes are tender.
Once the potatoes are tender, add the frozen corn, frozen peas, and diced carrots. Continue to simmer for an additional 5-7 minutes.
Pour in the milk and shredded cheddar cheese, stirring until the cheese is fully melted and the soup becomes creamy.
Taste the soup and adjust the seasonings with additional salt and pepper if needed. Serve hot, garnished with chopped fresh parsley if desired.