Turn the Instant Pot to the sauté mode. Once hot, add olive oil and let it heat for a moment.
Add the diced onion, carrots, and celery to the pot. Sauté for about 5 minutes until the vegetables are softened.
Stir in the minced garlic and sauté for an additional 1 minute, until fragrant.
Add the diced zucchini, rinsed quinoa, canned tomatoes (with juice), vegetable broth, oregano, basil, salt, and black pepper. Stir to combine all ingredients.
Close the Instant Pot lid, ensuring the vent is set to sealing. Select Manual or Pressure Cook mode and set the timer for 10 minutes on high pressure.
Once the cooking cycle is complete, allow the pressure to release naturally for 10 minutes, then quick release any remaining pressure.
Open the pot and stir in the rinsed cannellini beans, chopped kale, and lemon juice. Let the soup sit for about 5 minutes to allow the kale to wilt and the beans to warm through.
Taste and adjust seasoning if necessary before serving.