Contest-Winning Easy Oven Stew Recipe

2 pounds beef stew meat, cut into 1-inch cubes 4 large carrots, cut into 1-inch pieces 2 medium onions, cut into 1-inch pieces 2 celery ribs, cut into 1-inch pieces 2 medium parsnips, cut into 1-inch pieces 1 garlic clove, minced 1 can (14-1/2 ounces) Italian stewed tomatoes 1-1/2 cups beef broth 1 can (8 ounces) tomato sauce 1/2 cup quick-cooking tapioca 1 teaspoon instant coffee granules 1/2 teaspoon dried thyme 1/2 teaspoon dried oregano 1/2 teaspoon salt, optional