Cooling/Resting Time: 0 minutes
Heat olive oil in a large deep skillet over medium-high heat and cook diced onion for 3-4 minutes until softened.
Add minced garlic and cook 30-60 seconds until fragrant.
Add ground beef and cook until browned, breaking it apart as it cooks.
Drain excess fat, then stir in taco seasoning, salt, and pepper.
Add uncooked macaroni, salsa, broth, and milk to the skillet and stir to submerge pasta completely.
Bring to a simmer, cover, and cook 10-12 minutes, stirring every couple of minutes to prevent sticking.
Reduce heat to low and stir in shredded cheddar and cream cheese until melted and smooth.
Taste and adjust seasoning with salt and pepper.
Serve immediately while hot and creamy.