implemented for quantum operations such as quantum state transfer and single-qubit gates, their use for geometric two-qubit gates remains a challenge. In this paper, we propose a general scheme to realize robust geometric two-qubit gates in multi-level qubit systems where the interaction between the qubits is mediated by an auxiliary system (such as a bus or coupler). While our scheme utilizes Stimulated Raman Adiabatic Passage (STIRAP), it is substantially simpler than STIRAP-based gates that have been proposed for atomic platforms, requiring fewer control tones and ancillary states, as well as utilizing only a generic dispersive interaction. We also show how our gate can be accelerated using a shortcuts-to-adiabaticity approach, allowing one to achieve a gate that is both fast and relatively robust. We present a comprehensive theoretical analysis of the performance of our two-qubit gate in a parametrically-modulated superconducting circuits comprising two fluxonium qubits coupled to an auxiliary system.