Place a large skillet over medium heat. Drizzle with olive oil and add onion and saute for 2-3 minutes. Add garlic and saute for an additional minute. Then add lentils stirring well and saute for another 1-2 minutes.
Add broth to lentil and vegetable mixture, bringing to a boil. Reduce heat and simmer uncovered for 15-20 minutes, or until lentils are tender. The lentils should absorb most of the liquid. If not, drain excess liquid.
In the same skillet, add tomato soup, mustard, maple syrup, Worchestershire sauce, and seasoning. Mix well to combine.
Cook the mixture over medium-low heat until it starts to simmer, about 5-10 minutes. The mixture should thicken slightly. Taste and add additional seasoning as needed.
