In a large pot over medium heat, sauté the chopped onions in olive oil until translucent. Add minced garlic and cook for one minute.

Add the ground beef to the pot; cook until browned, breaking it apart as it cooks. Drain excess fat if necessary.

Stir in taco seasoning, mixing well with the meat and onions.

Pour in diced tomatoes and beef broth; bring to a simmer.

Reduce heat and let the soup simmer for about 20 minutes.

Serve topped with sour cream, shredded cheese, and fresh cilantro.