The former England international sparked a Brighton comeback with a penalty to level the score, before Brajan Gruda netted a late winner to secure three vital points.
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Ahead of the 2025-26 season, Milner opted to switch his Brighton shirt number to No.20 in tribute to Jota. The Portuguese forward had worn the number with distinction at Anfield, and Liverpool retired it as a mark of respect following his passing.
Manchester United will next face rivals Manchester United in a crucial Premier League clash after the international break on September 14.