Well, I suppose my argument is the one with splitting fields; here it is, in all its prolixity:
As @quarague has pointed out, you can see that your polynomial is $\equiv(X-2)^3\pmod7$, so that case is disposed of.
Otherwise, consider a (primitive) seventh root of unity $\zeta\in\Bbb C$, root of the irreducible polynomial $X^6+X^5+X^4+X^3+X^2+X+1$. Then it’s a nice computation to show that the minimal polynomial of $\xi=\zeta+\zeta^{-1}$ is your polynomial $X^3+X^2-2X-1$. (I’ve done this computation many times, and I recognized the polynomial.)
Now let’s consider four cases, depending on the order of $p$ in the multiplicative group of $\Bbb F_7$: since this group is cyclic of cardinality six, these are the cases:
If $p\equiv1\pmod7$, as, for instance $p=29$, then the seventh roots of unity are already in $\Bbb F_p$, so that $\xi=\zeta+1/\zeta$ is in $\Bbb F_p$, and its polynomial must split.
If $p$ is of order two, i.e. $p\equiv-1\pmod7$, as with $p=13$, then $7|(p^2-1)$ so $\zeta$ is quadratic over $\Bbb F_p$. Now write $p=7m-1$, and write $\xi=\zeta+\zeta^{-1}=\zeta+\zeta^{7m-1}=\zeta+\zeta^p$. That is, $\xi$ is the trace of $\zeta$ from $\Bbb F_{p^2}$ down to $\Bbb F_p$. Again, $\xi\in\Bbb F_p$, and your polynomial splits.
If $p$ is of order three, i.e. $p\equiv2,4\pmod7$, as with $p=23$ and $p=11$, then $7|(p^3-1)$ and $\zeta$ is cubic over $\Bbb F_p$. But since $\zeta$ is a root of $X^2-\xi X+1$, we see that $\bigl[\Bbb F_p(\zeta):\Bbb F_p(\xi)\bigr]$ is either $1$ or $2$, and the latter is impossible because $[\Bbb F_p(\zeta):\Bbb F_p]=3$.
Thus $\xi$ is cubic over $\Bbb F_p$ and your polynomial is irreducible modulo $p$.
The last case, that $p$ was of order six, i.e. $p\equiv3,5\pmod7$, is similar, with three fields now, $\Bbb F_p\subset\Bbb F_p(\xi)\subset\Bbb F_p(\zeta)$ and $\bigl[\Bbb F_p(\zeta):\Bbb F_p(\xi)\bigr]=2$ and again $\xi$ cubic over $\Bbb F_p$, with your polynomial being irreducible.