In a large pot, heat the oil over medium heat. Add the garlic, onion, 3 colors of bell pepper, carrots, celery, and jalapeno, then cook for about 5 minutes, stirring occasionally, until starting to soften. Add the oregano, cumin, chili powder, and salt. Stir and cook for a few more minutes.
Pour in the broth, tomato sauce, and Ro-tel. Stir, bring to a boil, then reduce the heat to low, cover, and simmer for 30 minutes. Add the beans and zucchini, stir, then cover and simmer for 30 more minutes.
Mix the masa with the warm water and stir it into the pot. Simmer for 15 more minutes. Taste and adjust seasonings.
Serve with Cotija cheese, pico de gallo, and cilantro.