01 - Preheat oven to 375°F. Lightly grease a 9x13-inch baking dish with nonstick cooking spray.
02 - Place the peeled and cubed potatoes in a large pot of salted water. Bring to a boil and cook until fork-tender, 15 to 20 minutes. Drain thoroughly, return to the pot, and mash with milk and butter until smooth. Season with salt and pepper to taste, then set aside.
03 - While the potatoes cook, heat a skillet over medium heat. Add the chopped onion and minced garlic, sautéing for 3 to 4 minutes until fragrant and softened. Remove from heat and let cool slightly.
04 - In a large mixing bowl, combine the ground beef, ground pork, sautéed onion and garlic, breadcrumbs, eggs, ¼ cup ketchup, Worcestershire sauce, salt, and pepper. Mix gently until just combined, being careful not to overwork the meat.
05 - Press the meat mixture evenly into the bottom of the prepared baking dish. Spread the frozen mixed vegetables in an even layer over the meat.
06 - Spread the mashed potatoes over the vegetable layer, smoothing into an even, level surface with a spatula.
07 - Drizzle additional ketchup over the mashed potato layer, then sprinkle evenly with the shredded cheddar cheese.
08 - Bake uncovered for 35 to 40 minutes, or until the casserole is bubbling at the edges and the cheese is melted and golden brown on top.
09 - Remove from the oven and let the casserole rest for 10 minutes before slicing into portions and serving.