Heat oven to 375°F. Line a sheet pan with parchment and lightly grease a 9×13-inch baking dish.
Spread the meatballs on the sheet pan in a single layer and bake for 8 minutes to thaw and pick up a little color while you prep the rest.
Bring a large pot of well-salted water to a boil. Add the pasta and cook 2 minutes less than package time (you want it quite firm).
Meanwhile, warm the marinara in a saucepan over medium heat with the minced garlic for 3–4 minutes, just until fragrant. Reserve 1/2 cup of the sauce for topping.
Drain the pasta (do not rinse). In a large bowl, toss the hot pasta with the warm marinara (except the reserved 1/2 cup), half of the mozzarella, and half of the Parmesan.
Fold the pre-baked meatballs into the sauced pasta, then transfer everything to the prepared baking dish. Spoon the reserved sauce over the top in a few swirls and scatter on the remaining mozzarella and Parmesan.
Cover the dish loosely with foil (tip: lightly oil the underside of the foil so the cheese won’t stick) and bake for 15 minutes. Uncover and bake 8–10 minutes more, until bubbling at the edges and the cheese is melted.
For extra color, broil 1–2 minutes, watching closely. Let rest 5 minutes before serving so the sauce settles and slices hold together.