My favourite method is this- in a quart jar, put the garlic, anchovy, lemon, balsamic, worchestshire and mustard.
Blend with an immersion blender until well combined.
Add in mayo and gently blend.
Add parmesan, salt and pepper, give a shake or a gentle blend and taste.
Alternatively you could put the garlic through a garlic press and mix by hand. Or put the first ingredients in a blender and blend well before adding the mayo etc.