In a large bowl, combine ground beef, bread crumbs, egg, milk, onion, garlic, Worcestershire sauce, Dijon mustard, salt, and black pepper. Mix until just combined. Form the mixture into 4 oval patties.
Cook the Patties:
Heat olive oil in a skillet over medium heat. Cook the patties for 4-5 minutes on each side until browned and cooked through. Remove the patties from the skillet and set them aside.
Make the Mushroom Sauce:
In the same skillet, melt butter over medium heat. Add sliced mushrooms and sauté for about 2 minutes. Sprinkle flour over the mushrooms and stir to coat evenly.
Add the Broth:
Gradually whisk in the beef broth, Worcestershire sauce, salt, and black pepper. Let the sauce simmer for 3-4 minutes, until it thickens.
Simmer the Patties in the Gravy:
Return the Salisbury steaks to the skillet, covering them with the gravy. Let it simmer for another 10 minutes, allowing the flavors to meld.
Serve:
Serve the Salisbury steaks with the mushroom gravy over mashed potatoes or rice.
Serving and Storage Tips:
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