In a large bowl, whisk together flour, oregano, basil, rosemary, thyme, marjoram, salt, black pepper, and cayenne pepper. Toss stew meat in the flour until thoroughly coated.
In a large stockpot, heat oil over medium-high heat and brown the stew beef on all sides. Work in batches to avoid crowding so that meat sears, not steams. Remove meat from pot and set aside.
Add the onion and balsamic vinegar to the pot and cook for several minutes, until onion is tender. Scrape the bottom of the pan to loosen all those flavorful tidbits. Add garlic; cook for another 30 seconds.
Add beef stew meat back to the pot along with all vegetables except peas. Bring mixture to a boil. Reduce heat to low; cover and cook for 2 1/2 hours or until beef is fork-tender. Add peas and let simmer, covered for another 30-45 minutes.
Sprinkle each serving with fresh chopped parsley and season with salt and pepper to taste.
When the stew is technically done, it can simmer until dinnertime, if you'd like. Mine usually simmers away for 4-5 hours. I just stir it occasionally and check to make sure there's still plenty of broth.Slow Cooker Instructions:Flour and brown beef in a skillet as directed in the stovetop recipe. Place beef in the slow cooker. Add balsamic vinegar; cook the onions and garlic in the skillet, then add to the slow cooker.Add remaining ingredients, stir together and cook on low heat for 7-8 hours. I don't recommend cooking it on high because you really need the time to tenderize the beef properly. Low and slow is the key.