Toast the ancho, guajillo, and chipotle chiles in a dry skillet over medium heat for 2-3 minutes until fragrant. Place in a bowl and cover with 2 cups hot beef broth. Let soak for 20 minutes, then blend until smooth.
Heat vegetable oil in a large heavy pot over medium-high heat. Add ground beef in batches, browning well without stirring too much, about 4-5 minutes per batch. Remove and set aside.
In the same pot, add onions and cook until softened, about 6 minutes. Add garlic, cumin, oregano, garlic powder, onion powder, and cayenne. Cook for 2 minutes until fragrant.
Return beef to the pot and add the blended chile mixture and remaining 2 cups beef broth. Stir well to combine.
Bring to a boil, then reduce heat to low and simmer uncovered for 2.5 hours, stirring every 20-30 minutes to prevent sticking.
Mix masa harina with 1/2 cup water to form a paste. Stir into the chili along with apple cider vinegar. Simmer for 30 more minutes until thickened.
Season with salt to taste. Let rest for 15 minutes before serving to allow flavors to fully develop.