Soak the dry navy beans for 8 hours or for an overnight soak. Drain and rinse the soaked navy beans. Add them to a large saucepan and cover with several inches of fresh water. Bring to a boil, then reduce the heat and simmer for 45-60 minutes, or until the beans are tender.

Drain beans, reserving 1 cup of the cooking liquid. Set aside.

Preheat the oven to 325 degrees Fahrenheit.

In a large Dutch oven, cook the strips of bacon over medium heat until browned. Add the onion, carrot, and garlic and cook for 4–5 minutes, until softened.

Stir in the tomato sauce, molasses, maple syrup, apple cider vinegar, Dijon mustard, Worcestershire sauce, smoked paprika, beef stock, reserved bean cooking liquid, and the cooked beans. Season with salt and pepper to taste.

Cover and bake the bean mixture for 2 hours, stirring once halfway through cooking.

If the beans seem too liquidy at the end of the cooking time, remove the lid and continue baking for 15–20 minutes to allow some of the liquid to evaporate. If the beans seem too dry, stir in a splash of additional broth or water.

Taste and adjust the seasoning before serving. Add more salt, maple syrup, mustard, or vinegar as desired to balance the flavors.