Best Roast Beef with Vegetables and Onion Gravy

Ingredients:

For the Roast Beef and Vegetables:
3-4 lb beef roast (chuck roast or rump roast)
3 large carrots, peeled and cut into chunks
3 large potatoes, peeled and quartered
2 onions, quartered
3 garlic cloves, minced
2 sprigs fresh rosemary
2 sprigs fresh thyme
2 cups beef broth
1 tablespoon Worcestershire sauce
2 tablespoons olive oil
Salt and black pepper, to taste
For the Onion Gravy:
2 onions, thinly sliced
2 tablespoons butter
2 tablespoons all-purpose flour
2 cups beef broth
1 teaspoon Worcestershire sauce
Salt and pepper, to taste