Loaded Cheeseburger Macaroni

INGREDIENTS
1 lb lean (at least 80%) ground beef
1 cup chopped onion
1 clove garlic, finely chopped
3/4 cup hot water
2 cups milk
1 box Hamburger Helper™ cheeseburger macaroni
1 can (14.5 oz) diced tomatoes, undrained
2 tablespoons sweet pickle relish
2 tablespoons yellow mustard
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