Preheat the oven to 350°F (175°C).
In a small bowl, combine the breadcrumbs and milk. Let soak for 5 minutes until the breadcrumbs absorb the milk.
In a large mixing bowl, add the ground beef, soaked breadcrumbs, egg, chopped onion, minced garlic, chopped parsley, salt, black pepper, dried thyme, dried oregano, and smoked paprika. Mix gently with your hands or a spoon until just combined. Avoid overmixing to keep the meatloaf tender.
Shape the meat mixture into a loaf shape and place it in a lightly greased 9×5-inch loaf pan or on a baking sheet lined with parchment paper.
In a separate small bowl, whisk together the ketchup, tomato paste, brown sugar, and apple cider vinegar to make the glaze.
Spread half of the glaze evenly over the top of the meatloaf.
Bake the meatloaf in the preheated oven for 45 minutes.
Remove the meatloaf from the oven and spread the remaining glaze evenly over the top.
Return the meatloaf to the oven and bake for an additional 15 minutes, or until the internal temperature reaches 160°F (71°C).
Remove from the oven and let the meatloaf rest for 10 minutes before slicing and serving.