In a large pot, turn heat to medium-high and brown the ground beef with the onions, garlic, and taco seasoning breaking it up as it cooks. It will take about 8 minutes for the beef to brown and the onions to soften. Once browned, add the rest of the ingredients and bring up to a boil, then turn the heat down to low and let simmer for 2 hours. I like to serve this with a dollop of sour cream on top of each bowl for each person to stir in. You can also add a bit of grated cheese if you like. Alternatively, you could cook this in a slow cooker. Brown the beef, onions, garlic and taco seasoning in a frying pan on the stove top. Once cooked, dump into a large slow cooker and add the rest of the ingredients. Cook 4-6 hours on high or 6-8 hours on low.