Set your Dutch oven over medium heat and add the chopped bacon. Cook for 5 to 7 minutes, stirring now and then, until the pieces are brown and crisp.
Lift the bacon out with a slotted spoon and set it on a paper-towel-lined plate. Pour off the excess fat, leaving about 1 to 2 tablespoons of drippings in the pot.
Add the ground beef, diced onion, and minced garlic to the pot with the reserved drippings. Cook over medium-high heat, breaking the beef into fine crumbles, for 6 to 8 minutes until no longer pink.
Drain off any excess grease, then add the sliced kielbasa to the pot with the beef. Cook for 3 to 4 minutes, stirring, until the sausage picks up some color on the cut edges.
Reduce the heat to low and sprinkle in the chili powder, cumin, smoked paprika, salt, and black pepper. Stir and cook for about 1 minute until fragrant.
Add the cubed potatoes, pinto beans, kidney beans, baked beans, diced tomatoes, Rotel, and corn. Pour in the beef broth and water, then stir in the reserved crisp bacon.
Raise the heat and bring the stew to a boil, then reduce the heat to low and cover the pot. Simmer for 30 to 40 minutes, stirring occasionally, until the potatoes are fork-tender.
Taste and add more salt or chili powder if needed. Adjust thickness with broth or by mashing a few potato cubes, then ladle into bowls and top with chopped parsley.