Best Meatloaf with Tomato and Brown Sugar Glaze

2 lbs ground beef (or 1 pound of ground beef and 1/2 pound each of ground pork and ground veal)
2 cloves garlic, minced
1 medium onion finely chopped
2 eggs
1/2 cup whole milk or yogurt
2 tsp Worcestershire Sauce
1 tsp Dijon mustard
1/2 tsp dried thyme flakes
1 tsp salt
2/3 cup fresh breadcrumbs, oatmeal, or crushed saltine crackers

For glaze:
1/2 cup ketchup or chili sauce
1/4 cup brown sugar
2 tsp cider or white vinegar

Preheat oven to 350. In a medium skillet sauté onions and garlic until onions are soft and translucent, about 10 minutes. Set aside to cool while assembling meatloaf. Whisk together eggs, milk, thyme, mustard, salt, and Worcestershire sauce. Add to meat along with bread crumbs or oatmeal, onions and garlic, and combine gently but thoroughly (don't mush meatloaf too much or it will be tough). Shape into a 9x5 inch loaf. (I like to line a loaf pan with parchment or plastic wrap and put the meat in the loaf pan and then invert it back into the baking dish and remove the parchment- that way you get a uniform loaf shape that bakes evenly). And place into a foil-lined shallow baking dish. Combine ingredients for the glaze and brush half of the glaze on the meatloaf before baking. Brush the remaining glaze on the meatloaf about 15 minutes before it comes out of the oven. Bake about 1 hour or until internal temperature reads at 160 degrees on an instant read thermometer. Allow to rest at least 10 minutes before slicing.