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Published 12:59 8 Aug 2015 BST
Updated 13:00 8 Aug 2015 BST
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Matt Giteau, making his first start for Australia since 2010, nailed a touchline conversion and his side led 17-14.
Hurricanes tyro Milner-Skudder was not finished yet.
He dived over in the corner and fought off three Australians to touch down on the whitewash.
Michael Cheika emptied his Wallabies bench and the home sides piled into their guests.
The pressure told as Australia forced a penalty. Nic White stepped up and slotted over from 47 metres.
The home side were buoyed by hitting the front and a turnover on Milner-Skudder cause chaos.
Aaron Smith tried to cover but spilled the ball, Scott Fardy and Michael Hooper kept it alive and White did the rest - sniping up the middle to seal the victory.
Australia will be ones to watch at the World Cup.
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