Prepare the Meatloaf Mixture
Soak the panko breadcrumbs in milk in a small bowl and set them aside. In a skillet over medium heat, sauté the diced yellow onion in olive oil until soft and translucent. Add the minced garlic, tomato paste, brown sugar, Worcestershire sauce, and apple cider vinegar, cooking for about 1 minute until fragrant. In a large bowl, combine the ground beef, all the dried seasonings (parsley, salt, onion powder, black pepper, oregano, and crushed red pepper), the soaked panko mixture, the lightly beaten eggs, and the cooked onion and garlic mixture. Gently mix everything together with your hands until it’s just combined, taking care not to overmix, which can result in a dense, tough texture.

Form and Bake the Meatloaf
Transfer the meatloaf mixture to a loaf pan or a parchment-lined baking sheet. Using your hands, form the mixture into an even loaf shape. Place the loaf pan or baking sheet into a preheated oven at 350°F (175°C) and bake for about 45 minutes to 1 hour, or until the internal temperature reaches 160°F (71°C) on a meat thermometer.

Make the Ultimate Glaze
While the meatloaf is baking, prepare the ultimate glaze. In a small bowl, whisk together the tomato paste, light brown sugar, honey, apple cider vinegar, Worcestershire sauce, salt, and black pepper until smooth. About 15 minutes before the meatloaf is finished baking, spread the glaze evenly over the top and sides of the loaf.

Rest and Serve
Once the meatloaf reaches an internal temperature of 160°F (71°C), remove it from the oven. This next step is crucial for a juicy, tender result: let the meatloaf rest for at least 10 minutes before slicing. This allows the juices to redistribute, preventing the loaf from falling apart and ensuring every slice is moist and flavorful. Slice and serve warm.