Heat 2 tablespoons olive oil and garlic in a large pot or Dutch oven over medium-high heat. Sauté garlic, stirring occasionally, for 2-3 minutes or just until garlic starts to turn golden brown.
Add chopped onion, carrot, and celery and cook for another 4-5 minutes, stirring occasionally, or until vegetables are soft and tender.
Add diced tomatoes, cannellini beans, 4 cups vegetable broth, bay leaves, rosemary, thyme, oregano, and red pepper flakes to pot and stir to combine. Add Parmesan cheese rind, if desired, and season with salt and black pepper, to taste. Bring to a boil, then reduce heat to medium-low. Cover and simmer 20-25 minutes.
While soup is simmering, cook pasta according to package directions until al dente. Reserve 1 cup of the cooking liquid before draining pasta. Rinse pasta and transfer to a medium bowl and toss with remaining olive oil. Cover and set aside.
Remove cover from pot or Dutch oven and add green beans and the reserved pasta cooking liquid. Stir to combine and continue cooking, uncovered, another 20-25 minutes or until green beans are crisp tender.
Add arugula and additional vegetable broth, if needed, and stir to combine. Season with additional salt and pepper, to taste. Cook for 2-3 minutes or until arugula begins to wilt.
To serve, divide cooked pasta among individual serving bowls and top with hot soup. Top with chopped parsley and freshly grated Parmesan cheese, if desired. Serve with crusty bread and/or a crisp, green side salad for a hearty meal. Enjoy!