It's been agreed between the club and Casemiro, 34, that he will depart when his contract expires this summer.
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But Yoro said: "Everyone wanted him to stay, he's a player really important for us.
"Even in the dressing room, every day, he has the experience that no one else has in the team. He won everything, so this helped us a lot in the games and even outside the pitch."
Yoro was speaking after Casemiro scored in victory over Aston Villa on Sunday.
