Cook the sweet potatoes. Place the peeled and chopped sweet potatoes in a large pot with the crushed garlic. Cover with cold water and add a generous pinch of salt. Bring to a boil, then reduce the heat and simmer for 15 to 20 minutes, or until the potatoes are completely tender when pierced with a fork.
Drain thoroughly. Drain the sweet potatoes in a colander and let them sit for a minute or two to release excess moisture. This helps prevent watery mashed sweet potatoes and keeps the final texture creamy.
Brown the butter. While the potatoes cook, melt the butter in a medium skillet over medium heat. Stir frequently as it foams and begins to turn golden brown. Once small brown flecks appear and the butter smells nutty, remove it from the heat immediately to prevent burning. Reserve a little brown butter for serving.
Warm the milk. Gently warm the milk in a small saucepan or microwave until it is warm but not boiling. Warm milk blends more easily into the potatoes and helps maintain their smooth texture.
Mash the potatoes. Transfer the drained sweet potatoes and softened garlic to a large bowl. Mash with a potato masher for a rustic texture, or use a potato ricer or food processor for a smoother result.
Combine the ingredients. Add most of the browned butter, warm milk, salt, and black pepper. Stir or mash until creamy and evenly combined. Add the maple syrup if you prefer a slightly sweeter finish, then adjust the seasoning to taste. Mix in the chopped thyme and rosemary.
Finish and serve. Transfer the mashed sweet potatoes to a serving bowl. Drizzle the reserved brown butter over the top and garnish with additional fresh herbs. Serve warm.