In a large pot or Dutch oven over medium heat, cook ground beef and onion until browned and cooked through, about 6–8 minutes. Drain excess fat if needed. Add garlic and cook 1 more minute.
Stir in both types of beans, corn, tomatoes with green chiles, crushed tomatoes, taco seasoning, cumin, paprika, and broth. Stir everything to combine.
Bring the soup to a simmer. Reduce heat to low, cover partially, and let cook for 15–20 minutes, stirring occasionally. Adjust thickness with more broth if needed.
Taste and season with salt and pepper as needed.
Ladle soup into bowls and add your favorite toppings. Serve hot with a side of tortilla chips or cornbread.