Brown ground beef in Dutch oven over medium-high heat until thoroughly cooked, stirring frequently. Drain.
Reduce heat to medium. Add carrots, onion, celery, garlic and salt; mix well. Cook 5 to 8 minutes or until vegetables are crisp-tender, stirring occasionally.
Add all remaining ingredients except macaroni; mix well. Bring to a boil. Reduce heat to medium-low; simmer 15 minutes to blend flavors.
Add uncooked macaroni; cook 8 to 10 minutes or until macaroni is of desired doneness, stirring occasionally.