Preheat oven to 350 degrees F.
In a large skillet over medium heat, add the olive oil and garlic. Cook for 1 minute. Add the onions. Cook until onions are translucent, about 5 minutes.
Add vegetables, ground beef, Worcestershire sauce, and basil to the skillet. Cook until beef is cooked through, crumbling it as it cooks, and vegetables are soft. Drain.
Add 1 cup of marinara sauce to the skillet and stir until warmed through.
To get an even consistency in the filling, add the beef mixture to a food processor and chop for a few seconds to break up any large pieces. The mixture should minced in texture but NOT completely smooth like a paste.
In a 13x9 casserole pan, add just enough marinara sauce to coat the bottom of the pan. This keeps the tubes from sticking.
Stand the tubes up and stuff the beef mixture in with a piping bag, large funnel, or a small spoon. Lay stuffed pasta into the casserole dish. Pour the remaining red sauce over the filled tubes in the casserole dish.
Sprinkle mozzarella, parmesan, and parsley over the casserole. Cover with foil.
Bake for 35 minutes or until cheese is thoroughly melted and the edges are bubbling. Remove foil. Bake another 10 minutes or until the cheese is bubbly and starting to brown.