Preheat the oven to 400 degrees.
To make the beef filling, in a large bowl, combine the beef and baking soda. Toss gently to combine and let stand for 15 to 20 minutes.
Heat the oil in a large skillet over medium-high heat (if possible, use an ovenproof skillet so you can take the pan straight to the oven). Add the onion and cook for 3 to 5 minutes, until soft. Add the beef and cook until no longer pink, breaking up the meat as it cooks. Add the garlic, dried parsley, thyme, basil, 1/2 teaspoon salt, and 1/4 teaspoon black pepper and stir to coat. Cook for 1 minute, until the herbs are fragrant.
Add the flour and stir to coat. Add the tomato paste and Worcestershire sauce and stir until the tomato paste is incorporated.
Add the broth and bring to a boil. Add the frozen vegetables, reduce the heat to low and simmer for 5 minutes, stirring occasionally.
Remove the pan from the heat.
To make the mashed potatoes, place the potatoes in a large pot and pour over enough cold water to cover by about 2 inches. Set the pan over high heat and bring to a boil. Reduce the heat to medium and simmer for 10 to 15 minutes, until the potatoes are fork tender.
Drain and return the potatoes to the pot. Let them rest for 1 minute to allow excess water to evaporate. Add the butter, half & half, garlic powder, 1/2 teaspoon salt, and 1/4 teaspoon black pepper. Mash until blended and smooth. Fold in the parmesan cheese.
If the beef mixture is already in an ovenproof skillet, spread the mashed potatoes over top, being careful not to squish them down. If you’re not using an ovenproof skillet, transfer the beef mixture to a pie plate or shallow baking dish and top with the mashed potatoes.
If your shepherd’s pie is filled to the max, place the pan/baking dish on a rimmed baking sheet.
Bake uncovered for 25 to 30 minutes, until the top is golden brown, and the filling is bubbly. If the filling is super bubbly and the top isn’t browned to your liking, switch to the broiler and broil until the mashed potatoes are golden brown.
Cool for 15 minutes before serving. Top with parsley if desired.