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Cut the potatoes into quarters and place in a large saucepan with the garlic cloves. Fill the pot with water and season generously with salt. Taste the water, it should taste salty. Bring the pot to a boil over medium heat and cook the potatoes until they are fork tender. (A fork, not a knife should slide in and out easily.)
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When the potatoes are tender, drain the water from them and return the potatoes and garlic to the pan. Add the milk and sour cream. Using a potato masher or big spoon, gently mash the potatoes. Stir in the Cheddar, then taste and season with salt, if needed. Transfer the mixture to a baking dish. Combine the panko, grated Parmesan and the cayenne in a small bowl. Sprinkle it over the top of the potato mixture and bake until hot all the way through and is crispy and brown on top, about 20 minutes.
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