Place the kidney, navy, and black beans in a medium-sized bowl, cover with 6 cups boiling water, and soak 8 hours or overnight. In a medium-sized pot, brown the ground beef. Drain and rinse the soaked beans, and add them to the pot with 6 cups fresh water and contents of the seasoning packet. Bring to a boil, then reduce the heat to low. Cover and simmer for 1 1/2 to 2 hours, or until the beans are tender. Stir the soup occasionally as it simmers. Add the tomato juice and return to a boil. Reduce the heat, cover, and simmer another 15 minutes. Serve hot. Refrigerate any leftovers in an airtight container for up to 1 week.
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