Expired Cans of beans

I have a few 8-packs of Bush's Baked Beans I bought in June 2010. The expiration date is: Baked 31205, Best by Mar 2013. So they are at least 5 1/2 years old.

I opened a can to test them. It smelled OK, it tasted the same as a fresh new can, and the texture was normal. So I heated them up and ate a can with a chopped hot dog. Still delicious!

Is it unsafe? How long will they stay this good?

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Expired Cans of beans