Preheat the oven to 350°F (175°C) and lightly grease a 9x5 inch loaf pan.
In a small bowl, combine the milk and breadcrumbs; let the mixture sit for 5 minutes to hydrate.
In a large mixing bowl, combine the ground beef, minced onion, garlic, parsley, thyme, rosemary, salt, pepper, eggs, and the hydrated breadcrumb mixture.
Mix the ingredients by hand until just combined, taking care not to overwork the meat to maintain a tender texture.
Press the mixture evenly into the prepared loaf pan or shape into a loaf on a parchment-lined baking sheet.
In a separate small bowl, whisk together the ketchup, brown sugar, Dijon mustard, and balsamic vinegar until smooth.
Spread approximately half of the glaze mixture evenly over the top of the meatloaf.
Bake in the preheated oven for 45 minutes.
Apply the remaining glaze over the top and continue baking for another 15 to 20 minutes, or until the internal temperature reaches 160°F (71°C).
Remove from the oven and allow the meatloaf to rest for 10 minutes before slicing to ensure the juices redistribute.