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Preheat the oven to 400°F (205°C). Line a rimmed baking sheet with foil and brush lightly with neutral oil.
In a large mixing bowl, combine the ground beef, ground pork, breadcrumbs, egg, milk, garlic, 1 tsp soy sauce, salt, and pepper. Mix with your hands until just combined — stop as soon as no streaks of breadcrumb remain; overmixing toughens the meatballs.
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