Preheat the oven to 375°F and line a sheet pan with foil or parchment.
In a large bowl, stir the breadcrumbs and milk together. Let them sit for 5 minutes until the crumbs soften into a paste.
Whisk the eggs, Worcestershire sauce, ketchup, salt, pepper, and thyme into the breadcrumb mixture.
Add the grated onion and minced garlic, then stir once more.
Add the ground beef and fold everything together gently with your hands. Stop the moment it looks combined.
Shape the mixture into a loaf on the sheet pan, roughly 9 inches long and 5 inches wide.
Whisk the glaze ingredients together in a small bowl.
Spread half the glaze over the top and sides of the loaf.
Bake for 40 minutes, then add the remaining glaze.
Bake 15 to 20 minutes more, until the center reaches 160°F.
Rest the loaf for 10 minutes before slicing.