Heat canola oil in a large pot over medium heat. Add onions and garlic and cook until softened and translucent, for about 10 minutes.
Add the remaining ingredients. Bring to a gentle simmer and cook, partially covered, for 15 minutes, stirring occasionally, until the okra is tender and the stew has thickened slightly.
Notes
Fresh or frozen okra works great in this recipe. No need to thaw frozen okra—just toss it in!
If you prefer a thicker stew with less moisture, leave the lid slightly ajar while simmering to let steam escape.