Does garlic need to fry or can it steam or simmer?

I'm making ground beef tacos, I've chopped up an onion an garlic, I will saute the onion in oil, but I wonder if I should wait until after I cook the beef to add the garlic, add it at the same time I add the water and seasoning to simmer. This is as opposed to adding it before the beef.

submitted by /u/glboomerplus
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