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1. In a 4 to 5-quart slow cooker stir together beef, onion, tomatoes, broth, paprika, thyme, garlic, rosemary, and pepper.
2. Cover and cook on low-heat setting for 6 to 7 hours or on high-heat setting for 3 to 3 1/2 hours.
3. If using low-heat setting, turn cooker to high-heat setting. Stir in kale and beans. Cover and cook for 30 minutes more.
4. To serve, stir in vinegar.