Preheat oven to 375°F (190°C).
Soak breadcrumbs in milk for 5 minutes.
Sauté onion and garlic until soft.
In a large bowl, combine meats, soaked breadcrumbs, onion mixture, eggs, ketchup, Worcestershire, and seasonings. Mix gently.
Shape into a loaf and place in a loaf pan or on a lined baking sheet.
Mix glaze ingredients; spread half over the loaf.
Bake 45 minutes, add remaining glaze, and bake 15 more minutes (internal temp: 160°F / 71°C).
Rest 10 minutes before slicing.