Heat the oil in a 5-quart Dutch oven over medium. Add the onions, cover, and cook, stirring occasionally, until soft and translucent, about 10 minutes. Increase the heat to high. Add the beef, and season with salt and pepper. Cook, uncovered, stirring only once or twice, until the meat is lightly browned, about 6 minutes. Stir in the paprika, marjoram, caraway, and garlic, and cook until fragrant, about 2 minutes. Add the carrots, parsnips, and 5 cups water. Bring to a boil, then reduce heat to medium and simmer, covered, until the beef is nearly tender, about 40–50 minutes. Add the potatoes and cook, uncovered, until tender, about 25 minutes. Stir in the tomatoes and peppers; cook for 10 minutes. Season with salt and pepper. Serve, with rye bread if desired.