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Preheat oven to 325 degrees F.
Place a large Dutch oven over medium-high heat and add oil.
Season the beef chuck roast with salt and pepper and cook on both sides until nicely browned, for 6-8 minutes on each side.
Remove the beef from the pot, set aside, and add the diced onions.
Sauté until translucent and lightly browned, about 3 to 4 minutes.
Add the minced garlic, peppers, tomato paste, diced tomatoes, Worcestershire sauce, taco seasoning, beef broth, lime juice, lime zest, and cilantro, stirring well.
Add the beef back to the pot, add bay leaves, add whole garlic, and quartered onion. Cover and cook for 3-4 hours, or until fork-tender.
Discard bay leaves when done cooking.
Serve beef shredded with chopped parsley, cooked veggies, lime wedges, and rice on the side.