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CARAMELIZE THE ONIONS: Melt 1 tbsp butter in large skillet over med-high heat.
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Add onions and sugar and cook, stirring often, 25 minutes till onions are a golden brown and caramelized.
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Remove from heat, set aside.
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BOIL POTATOES SEPARATELY: Meanwhile, while onions are caramelizing, place potatoes in two pots large enough for water to cover potatoes.
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Add the garlic cloves to the pot with the red potatoes.
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Bring both pots to a boil, reduce to med heat and cook until tender, about 20 minutes, then drain in colanders.
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PREP RED POTATOES: Beat red potatoes and garlic with electric mixer till mashed.
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Add 1/2 cup milk, sour cream and 2 tbsp butter.
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Continue beating till smooth.
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Season with salt and pepper to taste.
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PREP SWEET POTATOES: Beat sweet potatoes until mashed.
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Add remaining 3/4 cup milk and 2 tbsp butter, the brown sugar and vanilla.
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Beat till smooth, season with salt to taste.
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ASSEMBLE: Preheat oven to 350F Lightly grease a 3-quart baking dish.
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Place the red mashed potatoes in the bottom.
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Spread sweet potato mixture over red potato mixture.
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Swirl by cutting through mixture gently with the flat side of a knife.
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Top with the onion mixture.
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Cover and bake for 30 minutes.
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Sprinkle with bacon crumbs and serve.