Plant (weed) Id

I have this weed all through my lawns and garden beds. So far I haven’t been be able to id it. Two ways I’ve found to get rid of it is to try and dig it out or use glysophate on it. Glysophate isn’t really the best option. Digging it out isn’t always effective either. The tap root can be up to 300mm long. If I don’t manage to get the whole tap root out, it seems to grow back, but this may also be seeds germinating. Can anyone id the weed and is there an effective control for it.