Add Ground Pepper toward the end of the cooking time. Ground pepper looses its favor in long cooking times. An alternative is to put peppercorns in a muslin bag or cheese cloth that can be submerged during cooking then removed from the dish.
Bay Leaf is another retrievable spice. Add dried bay leaf to your soups and roasts during cooking then remove before serving because the leaf is bitter and hard to chew. Crush bay leaf for added flavor; again put them in a muslin bag that can be retrieved before serving.
A Tea Infuser works well for adding spices that you want to remove at the end of cooking. This allows you to add the flavor of the spice/herb without actually adding the texture.