Preheat your oven to 350°F (175°C). Line a baking sheet with foil or parchment paper, or prepare a 9x5 inch loaf pan with cooking spray.
In a large bowl, combine ground beef, diced onion, minced garlic, beaten eggs, breadcrumbs, milk, Worcestershire sauce, thyme, oregano, salt, and pepper. Mix gently with your hands until just combined, being careful not to overmix.
Transfer the meat mixture to your prepared baking surface. If using a baking sheet, shape the mixture into a loaf approximately 9x5 inches. For a loaf pan, press the mixture in evenly, leaving a slight depression in the center.
In a small bowl, whisk together ketchup, brown sugar, apple cider vinegar, mustard powder, and ground cloves until smooth to create the glaze.
Spread about 1/3 of the glaze over the top of the meatloaf before baking.
Bake the meatloaf for 40 minutes, then remove from the oven and carefully drain any excess fat. Apply another 1/3 of the glaze and return to the oven for an additional 15-20 minutes, until the internal temperature reaches 160°F (71°C).
Remove from the oven and let rest for 10 minutes. Apply the remaining glaze just before serving.