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Heat oil in a large skillet over medium heat. Add onion and bell pepper and cook, stirring occasionally, until they begin to soften, about 5 minutes. Add garlic and cook, stirring occasionally, for 1 minute. Add ground beef and cook, breaking up with a wooden spoon, until browned and cooked through, about 7 minutes.
Add pasta sauce, vinegar, Worcestershire sauce, brown sugar and pepper and stir to combine. Bring to a simmer, lower the heat to low and cook until slightly thickened, about 5 minutes. Spoon beef mixture onto hamburger buns and serve.