In a large skillet or pan, heat the olive oil over medium heat.
Add the chopped onion and sauté for 2-3 minutes until it becomes translucent.
Stir in the minced garlic and cook for another 30 seconds.
Add the diced carrots and cook for about 5 minutes until they start to soften.
Pour in the diced tomatoes, vegetable broth, tomato paste, soy sauce, dried thyme, dried rosemary, salt, and pepper. Stir well.
Bring the mixture to a simmer and let it cook for about 10-15 minutes, allowing the flavors to meld and the sauce to thicken.
Stir in the cooked lentils, frozen peas, and frozen corn. Cook for an additional 5 minutes. Adjust seasoning if necessary.