Baked beans to soak or not to

Howdy all. I've been looking at a couple of recipes for "Better than Bush's" baked beans. Most of them are about the same ingredients, but I found a recipe where they said you don't have to soak/boil the beans before you can them.

Has anyone tried this way? It'd obviously be a lot easier/quicker but I don't feel like losing a tooth when eating them.

For those interested here's that recipe:

https://www.mommyskitchen.net/2023/09/home-canned-baked-beans.html

3/4 – cup navy beans for each jar (about 3 pounds dry beans)

1/4 – cup ketchup

2 – tablespoons brown sugar

1/2 – tablespoon dried onion flakes

1/2 – tablespoon apple cider vinegar

1/2 – teaspoon salt

1/4 – teaspoon prepared mustard

1 – tablespoon sorghum

1-2 pieces of bacon ends partially cooked