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In a mixing bowl, combine the ground beef, kosher salt, black pepper, and Worcestershire sauce. Mix gently with your hands until just combined — do not overwork the meat. Divide into 4 equal portions and press each into a patty about 3/4 inch thick, making a shallow dimple in the center of each with your thumb to prevent doming during cooking.
In a small bowl, stir together the mayonnaise, lemon juice, grated garlic, and Dijon mustard until smooth. Set aside.
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