For the glaze:

1) In a small bowl, mix together ketchup, vinegar, Worcestershire sauce, hot pepper sauce and brown sugar. Set aside. (Note: You may double (or more) the glaze, if desired. Also, a second batch of glaze, simmered over medium-low heat until thick and syrupy, about 5 minutes, is good to serve seperately with the meatloaf.)

For the meatloaf:

1) Preheat oven to 350 degrees F.

2) In a medium skillet, saute onions in olive oil until just translucent, about 5 minutes. Let cool.

3) In a large bowl, mix together onion, tomato paste, Worcestershire sauce, and milk until well combined.

4) Add ground beef, eggs, crushed crackers, parsley, salt and pepper. Mix with fork until evenly blended and mixture doesn''t stick to the bowl. If it sticks add more milk. (Note: Handle meat gently; it should be thoroughly combined but not made into a mushy paste.)

5) With wet hands, pat mixture into a greased 9- by 5- by 3-inch loaf pan. Line loaf pan with parchment paper or foil for easy clean up, if desired

6) Brush with glaze, if desired.

7) Place in center of preheated oven and bake, uncovered, until cooked through and a thermometer inserted into center registers 160 degrees F, about 1 1/4 to 1 1/2 hours.

8) Drain any excess fat, and allow to rest for 10 to 15 minutes before serving.