Bring a large pot of water to a boil, salt generously, and cook protein pasta according to package instructions. Reserve 1/2 cup pasta water before draining. Drain the pasta and return to the warm pot.
Add 1 24 ounce jar of marinara sauce and 1 cup of plain greek yogurt to a blender or food process and blend until smooth. Set aside.
In a skillet over medium-high heat, add ground beef, breaking it apart, and 1 tbsp Worcestershire Sauce, 1 tsp salt, 1 tsp paprika, 1 tsp garlic powder, 1 tsp Italian seasoning, and a dash of pepper and cook until browned, about 8-10 minutes. Drain excess fat if needed. Add the cooked meat to the pot of cooked pasta and cover with a lid to stay warm.
Drain excess oil from the skillet and return to medium-high heat. Add chopped onion and zucchini, sautéing for 5-7 minutes until softened. Add the chopped mushrooms and minced garlic and sauté for an additional 2-3 minutes or until the mushrooms are soft.
Add the sauted vegetables to the pot of warm pasta and meat. Pour in the sauce and stir until well blended. Add some reserved pasta water if needed for consistency. Sprinkle with parmesan cheese and fresh basil. Enjoy!