Preheat your oven to 350°F and line a baking sheet with parchment paper. In a small bowl, combine breadcrumbs and milk, stirring until the mixture resembles wet sand. Let this mixture rest for 5 minutes while you prepare other ingredients.

In a large mixing bowl, combine the soaked breadcrumbs, beaten eggs, diced onion, minced garlic, Worcestershire sauce, salt, pepper, and fresh parsley. Mix these ingredients thoroughly with a wooden spoon until well combined.

Add the ground beef to your seasoned mixture and use clean hands to gently combine everything. Avoid overmixing - use gentle folding motions. The mixture should just come together without being compressed.

Transfer the meat mixture to your prepared baking sheet and shape it into a loaf about 9 inches long and 5 inches wide. Don't pack it too tightly - think of gently molding rather than pressing firmly.

In a small bowl, whisk together ketchup, brown sugar, apple cider vinegar, and yellow mustard until smooth. Brush half of this glaze over the shaped meatloaf, reserving the rest for later.

Place the meatloaf in the preheated oven and bake for 45 minutes. Then brush with the remaining glaze and continue baking for 10-15 minutes until the internal temperature reaches 160°F. Let it rest for 10 minutes before slicing.