Heat the oil in a soup pot, over medium heat, add the pancetta, and cook until just brown, about 5 minutes. Transfer the pancetta to a plate with a slotted spoon and set aside. Add the onion to the pot and cook, stirring occasionally until golden, about 10 minutes. Add the garlic, rosemary, and pepper flakes, cook until translucent, about 3 minutes more.
Stir in the escarole and cook until just wilted, about 2 minutes. Add the broth, beans, tomato, and bring to a gentle simmer. Season with salt, to taste. Cover, and cook until slightly thickened, about for 10 to 15 minutes. Stir in the reserved pancetta and season with salt and pepper, to taste. Serve in bowls with a drizzle of olive oil and Parmesan, if desired.
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