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Preheat the oven to 350 degrees F (180 degrees C).
Crumble ground beef into pan and cook until brown all over. Sprinkle with flour. Stir in ketchup, tomato juice, Worcestershire sauce and mustard. Simmer for 5 minutes. Stir in mixed vegetables. Transfer to a 9-inch baking dish.
Whip mashed potatoes with warm milk, remaining salt and pepper, butter, and garlic until very fluffy. Spread potatoes evenly over meat mixture.
Recipe Tips
For a meatless version, substitute 4 cups of chopped mushrooms for the meat.
This casserole can be assembled and refrigerated for up to 2 days before baking. Increase cooking time to 45 minutes.
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