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Preheat the oven to 400 degrees F.
Line a baking sheet with parchment paper or aluminum foil.
Add the breadcrumbs, egg, and milk to a large mixing bowl and whisk to combine. Set the bowl aside for 5 minutes or so to let the breadcrumbs soften.
Chop the garlic, onions, and parsley.
After 5 minutes, add the sausage, garlic, onion, Worcestershire, parsley, and parmesan to the breadcrumb mixture.
Mix by hand just until combined. Don't overmix or the meatballs may become tough.
Measure the meatball mixture with a spoon or cookie scoop for consistency. Using about 3 tablespoons each, form them into a ball by rolling in your hands, and place meatballs on the prepared tray. This will yield about 12 meatballs.
Bake at 400 for 20 minutes, checking the internal temperature for doneness. They will finish with a golden brown exterior.
After baking, let them rest on the baking sheet on the counter for about 5 minutes.
While they rest, heat the marinara sauce over medium heat. Bring to a simmer, then add the meatballs and toss them to coat.
Garnish with fresh parsley and/or additional parmesan, if you'd like.