Preheat the oven to 350°F (175°C) and line a rimmed baking sheet with parchment paper or foil.
Combine the panko breadcrumbs and whole milk in a large bowl and let them soak for 5 minutes to create a tender panade.
Add the ground beef, ground pork, beaten eggs, onion, garlic, Worcestershire sauce, salt, and pepper to the bowl.
Gently mix everything together just until combined, taking care not to overwork the meat.
Shape the mixture into an even loaf about 9 x 5 inches and place it on the prepared baking sheet.
Bake the meatloaf uncovered for 45 to 50 minutes.
While the meatloaf bakes, whisk together the ketchup, brown sugar, yellow mustard, apple cider vinegar, and garlic powder until smooth to create the ketchup glaze for meatloaf.
Remove the meatloaf from the oven and generously brush the glaze over the top and sides.
Return the meatloaf to the oven and bake for another 10 to 15 minutes, or until the center reaches 160°F (71°C).
Turn the oven to broil and cook for 3 to 5 minutes, watching carefully until the glaze becomes bubbly, sticky, and beautifully caramelized.
Remove the meatloaf from the oven and let it rest for 10 minutes before slicing and serving.