Heat a large pot over medium-high heat. Brown the ground beef before breaking apart and fully cooking.
Once the meat is fully cooked, add all the canned ingredients and seasoning packets. Stir to fully combine and bring to a boil.
Add the frozen vegetables and reduce to a simmer. Cook until the vegetables are tender, about 6-8 minutes. (The soup will be thick but the vegetables will release water as they cook.)
Reduce the heat to low or turn off the heat if you're planning to serve immediately. Add the cream cheese and Greek yogurt and stir until evenly incorporated.
Serve with cilantro, diced onion and jalapeño, shredded cheese or queso fresco, and tortilla chips, if desired.