Preheat your oven to 350°F (175°C). Line a baking dish or rimmed sheet pan with foil and lightly grease it.

Prepare the glaze first. In a small bowl, stir together ½ cup ketchup, ¼ cup brown sugar, 1 tbsp Dijon mustard, 1 tbsp Worcestershire sauce, and 1 tbsp apple cider vinegar until the sugar dissolves. Set aside.

Mix the meatloaf base. In a large mixing bowl, combine 1 cup breadcrumbs, ½ cup milk, and 2 eggs. Stir until the breadcrumbs have absorbed the liquid — about 30 seconds.

Add the remaining meatloaf ingredients. To the bowl, add the grated onion, 3 minced garlic cloves, 2 tbsp Worcestershire sauce, 1 tbsp Dijon mustard, ⅓ cup ketchup, 1 tsp salt, ½ tsp black pepper, 1 tsp smoked paprika, and ¼ cup fresh parsley. Mix everything together until just combined.

Add the ground beef. Add 1 lb ground beef to the bowl and mix with your hands or a fork until the ingredients are evenly distributed.

Shape the loaf. Transfer the mixture to your prepared baking pan and shape it into a loaf roughly 9 inches long and 4 inches wide.

Bake for the first 30 minutes without glaze. Place the pan in the oven and bake uncovered for 30 minutes.

Apply the first layer of glaze. After 30 minutes, remove the pan from the oven and spoon about half the glaze over the top.

Apply the second glaze coat and finish baking. After the second 15-minute interval (45 minutes total bake time), spoon the remaining glaze over the top.

Rest before slicing. Pull the meatloaf from the oven and let it rest uncovered for 10 minutes.