Heat the olive oil in a large pot over medium heat. Add the onion, carrots, and celery and cook for 5 minutes until the vegetables begin to soften.
Stir in the garlic, rosemary, and thyme and cook for 1 minute until fragrant.
Add the cannellini beans, diced tomatoes, and vegetable broth. Bring the mixture to a simmer and cook for 15 minutes.
Stir in the kale and continue simmering for 5 minutes until the kale wilts.
Season with salt and pepper to taste, then stir in the lemon juice.
Ladle the soup into bowls and top each serving with chopped fresh parsley.