Filipino Beef Giniling Afritada Style

Name: Filipino Beef Giniling (Afritada Style)
Ingredients: 1 tablespoon oil, or as needed; 1 clove garlic, minced; 2 pounds ground beef; 1.5 cups water, divided, or more as needed; ground black pepper to taste; 2 medium red potatoes, cubed; 10 baby carrots, or more to taste, cubed; 6 tablespoons soy sauce, divided; 0.5 cup raisins, or more to taste; 1.5 (6.5 ounce) cans tomato sauce with salt (such as Contadina®); 0.5 medium orange bell pepper, diced; 4 tablespoons white sugar