Heat olive oil in large soup pot over medium-high heat. Add onion, carrots, celery, bell peppers, mushrooms, and jalapeño. Cook, stirring occasionally, until vegetables are soft and fragrant, 5-7 minutes.
Add ground beef and garlic. Season generously with salt and pepper. Cook, breaking up meat with wooden spoon, until beef is browned, 5-6 minutes.
Add oregano, cumin, chili powder, cayenne, and tomato paste. Stir together and cook 1-2 minutes until spices become fragrant.
Add crushed tomatoes and broth. Bring to a boil.
Reduce heat to medium and simmer 15-20 minutes, stirring occasionally.
Remove from heat and adjust seasonings. Top with pickled jalapeños, avocado, and cilantro if desired. Serve immediately.