Preheat your oven to 350°F (175°C) to prepare for baking the casserole.
In a large oven-safe skillet or Dutch oven, heat the olive oil over medium-high heat. Add the beef cubes in batches, searing them until browned on all sides. This should take about 5-7 minutes. Remove the beef and set it aside.
In the same skillet, add the diced onion and sauté for 3-4 minutes until softened. Add the minced garlic and continue cooking for another minute until fragrant.
Stir in the sliced carrots and diced potatoes. Cook for about 5 minutes, stirring occasionally. Then, add the thyme, rosemary, paprika, salt, and pepper, mixing well to combine.
Return the browned beef to the skillet. Pour in the beef broth, tomato sauce, and Worcestershire sauce. If you prefer a thicker sauce, sprinkle the flour over the mixture and stir until everything is well combined.
Bring the mixture to a gentle simmer, then cover the skillet or Dutch oven with a lid or aluminum foil. Transfer it to the preheated oven and bake for 1.5 hours, or until the beef is fork-tender and the vegetables are cooked through.
Once done, remove the casserole from the oven and let it sit for about 10 minutes before serving. This allows the flavors to meld together even more.
Garnish with fresh chopped parsley before serving. Enjoy your warm, hearty beef and carrot casserole with crusty bread or a fresh salad!