Preheat the oven: Set your oven to 350°F (175°C). Line a sheet pan with foil or parchment for easy cleanup, and lightly grease it.

Hydrate the stuffing mix: In a large bowl, combine the stuffing mix and milk (or broth). Let it sit for 5 minutes to soften. This step helps keep the meatloaf moist.

Add aromatics and seasonings: Stir in the minced onion, garlic, Worcestershire sauce, pepper, and salt. Mix until evenly distributed.

Mix in the meat and eggs: Add the ground beef and beaten eggs. Use your hands or a fork to gently combine. Do not overmix; stop as soon as everything looks evenly incorporated.

Shape the loaf: Transfer the mixture to the prepared pan and form a tight, even loaf about 8–9 inches long and 4–5 inches wide. A loaf shape on a sheet pan browns better than using a loaf pan.

Make the glaze: In a small bowl, mix ketchup, brown sugar, and apple cider vinegar. Spread half over the top of the loaf.

Bake: Place in the oven and bake for 45 minutes. Remove, spread on the remaining glaze, and bake another 15–25 minutes, or until the internal temperature reaches 160°F (71°C).

Rest and slice: Let the meatloaf rest for 10 minutes before slicing. This helps the juices redistribute so each slice stays moist.

Serve: Pair with mashed potatoes, green beans, or a simple salad. Spoon any pan juices over slices for extra flavor.