Place the ground beef and minced garlic in a large pot over medium-high heat. Cook until the beef is completely browned and no longer pink.
Drain the excess fat from the pot and return the beef to the heat.
Add the tomato sauce, chili powder, cumin, oregano, salt, and cayenne pepper to the beef and stir to incorporate.
Pour in 1.5 cups of water. Cover the pot, reduce the heat to low, and simmer for 1 hour, stirring occasionally.
In a small bowl, whisk the masa harina with 1/2 cup of warm water until a smooth slurry is formed.
Stir the masa slurry into the chili until fully integrated.
Add the drained beans to the pot and stir gently.
Simmer the chili uncovered for an additional 10 to 15 minutes until the desired thickness is reached.
Taste and adjust seasonings before serving hot.