Form pork sausage into small 1/2-inch meatballs using a small scoop. Fill a skillet with enough water to make a 1-inch depth; bring to a boil, reduce heat to medium-low, and simmer. Cook meatballs in the simmering water until cooked through, about 15 minutes. Remove meatballs with a slotted spoon and cool on a paper towel-lined plate. Drain water.
Preheat oven to 350 degrees F (175 degrees C).
Mix ground beef, bread crumbs, ketchup, Parmesan cheese, Worcestershire sauce, egg, granulated garlic, and 1 teaspoon black pepper in a large bowl. Scoop ground beef mixture into about 1-inch portions using an ice cream scooper; form each portion around 1 small pork meatball to cover completely. Arrange double meatballs on a baking sheet.
Bake in the preheated oven until meatballs are browned and partially cooked, about 25 minutes.
Heat olive oil in a pot over medium heat; cook and stir onion and garlic in the hot oil until onion is softened, about 10 minutes. Add crushed tomatoes, diced tomatoes, sugar, Italian seasoning, 1 teaspoon black pepper, basil, and lemon juice; bring to a boil. Reduce heat and simmer sauce for 20 minutes. Add meatballs to sauce and simmer, stirring gently, until meatballs are fully cooked, about 20 more minutes.