In a 5-quart saucepan, heat oil over medium-high. Cook onion until translucent, stirring often, 3 minutes. Add garlic, mustard and chili powders, cumin, tomatoes, brown sugar, beans, and 3 cups water.
Bring to a boil; reduce heat to medium-low. Cover; simmer, stirring occasionally, 50 minutes. Uncover; cook until thick, about 10 minutes more. Stir in vinegar; season with salt and pepper.
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