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Make the meatloaf glaze by mixing the ketchup, maple syrup, mustard, and Worcestershire sauce in a small bowl. Set aside.
In a large skillet, melt the butter over medium heat. Add the mushrooms, onion, shallot, bell pepper, and garlic. Cook, stirring occasionally, until the vegetables are softened, about 8 to 10 minutes. Transfer to a large bowl and let cool slightly.
Add the ground beef, Cajun seasoning (if using), crushed crackers, milk, egg, egg yolk, mustard, ketchup, and Worcestershire sauce to the bowl with the cooked vegetables. Use your hands to gently mix until just combined, being careful not to overmix.
Transfer the meatloaf mixture to a 9x5-inch loaf pan. Spread the meatloaf glaze over the top.
Bake at 350°F (177°C) for 55 to 65 minutes, or until the internal temperature reaches 160°F (71°C). Let the meatloaf rest for 10 minutes before slicing and serving.