Add the ground beef to a large skillet over medium-high heat and cook until no pink remains.
While the beef cooks, prepare the vegetables and bacon.
Add the bacon to a second skillet (stainless steel if possible) over medium-high heat and fully cook. Remove the bacon from the skillet, leaving the grease behind.
Carefully add the vinegar to deglaze the pan (remove any stuck bits on the bottom) before adding the onions, carrots, and garlic. Stirring often, cook until the onions and carrots soften, about 5-7 minutes.
Add the tomatoes and remaining meat sauce ingredients, stirring everything together. Cook for 2-3 minutes until the mixture begins to thicken before adding the cooked beef.
Reduce to a medium-low heat and cook for an additional 10-15 minutes before assembling the lasagna.