Combine pork, rosemary, black pepper, salt, paprika, and red pepper in a bowl.
Heat a large Dutch oven over medium-high heat. Add oil; swirl. Add pork mixture; sauté 2 minutes. Add onion and garlic; sauté 4 minutes. Add stock, tomato paste, and beans; bring to a boil. Reduce heat and cook, partially covered, for 10 minutes. Mash half of beans in pan with a potato masher. Stir in escarole; cook 2 minutes or until wilted. Ladle about 1 3/4 cups soup into each of 6 bowls; top each serving with 1 tablespoon Parmesan cheese.
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