Preheat your oven to 350°F. Place a large oven-safe Dutch oven on the stovetop and render the chopped bacon over medium heat until it becomes crisp. Once cooked, extract the bacon using a slotted spoon and transfer it onto a plate lined with paper towels, preserving approximately 2 tablespoons of bacon drippings in the pot.

Introduce the diced onion to the pot and sauté over medium heat, stirring occasionally, until translucent—about 5 minutes. Incorporate the minced garlic and continue to cook, stirring constantly for 1 minute. Pour in the pork and beans with their sauce, followed by the ketchup, Worcestershire sauce, yellow mustard, apple cider vinegar, and the packed brown sugar. Mix thoroughly to combine all ingredients.

Scatter the cooked bacon evenly across the top. Transfer the pot, uncovered, to the oven and bake for 45 minutes, or until the beans are hot and bubbling. Serve immediately while warm.