In a high-sided pan or pot, cook the ground beef over medium heat until brown.
Add the jalapeño pepper, green and red bell peppers, and yellow onion to the ground beef and continue cooking for 3 to 4 minutes, stirring often, until the onions are softened.
Add the salsa, corn, black beans, kidney beans, pinto beans, tomato sauce, diced tomatoes, and taco seasoning. Stir to combine.
Lower the heat to low and simmer the taco soup for 20 to 25 minutes, stirring every 3 or 4 minutes. Monitor the thickness and stop simmering when the soup hits your desired level.
Remove the taco soup from the heat and ladle into bowls. Add a dollop of sour cream (optional) to each soup and sprinkle with shredded cheese (also optional). Add tortilla chips to the side and serve.