Add the first 11 ingredients (beef through beef broth) to a large stock pot. Cover the pot and place it in the refrigerator for 12 to 24 hours.
Prepare the yucca root and set aside (or refrigerate) until ready to add to the stew.
When ready to cook the stew, discard the cinnamon stick from the pot, and place pot on the stove top over medium-high heat. Bring the stew to a full boil.
Add the tomato paste and salt and reduce the heat to a simmer. Continue cooking, covered, until all of the vegetables have softened and the meat is cooked through, about 45 minutes to 1 hour.
Add the cooked yucca root and frozen peas and continue simmering for an additional 15 minutes.
Remove the sprigs of thyme, bay leaf, and oranges from the stew.
Serve heaping bowls alongside your favorite mashed potatoes.