Heat a large skillet over medium-high heat. Cook and stir beef and onion in the hot skillet until browned and crumbly, 5 to 7 minutes; pour into a slow cooker.
Cook and stir bacon in a large skillet over medium-high heat until evenly browned, about 10 minutes; add to beef.
Stir pork and beans, kidney beans, white sugar, ketchup, brown sugar, vinegar, and liquid smoke into the beef mixture.
Cook on Low for 6 to 8 hours.
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