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Start by preheating the oven to 375°F.
In a large skillet, cook bacon over medium heat, stirring occasionally, until crisp, for about 8 minutes. Remove bacon with a slotted spoon to a paper towel-lined plate. Drain drippings from skillet.
Add ground beef, onion, and garlic to the skillet. Cook over medium heat, stirring and breaking up the meat, until it is browned and cooked through, 8 to 10 minutes.
Inside of a bowl, combine beef mixture, pork and beans, great Northern beans, pinto beans, butter beans, kidney beans, ketchup, molasses, mustard, Worcestershire sauce, and cayenne.
Transfer the mixture to a 3½- to 4-qt. casserole. Bake, covered, for 30 minutes.
Stir mixture, then top with cooked bacon. Bake, covered, for 30 minutes more or until hot and bubbly.