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Mo Faal scored an injury-time winner as Maidstone came from behind to reach the National League South play-off semi-finals.
Substitute Faal struck in the second minute of added time against Aveley to set up a tie at Worthing on Sunday.
The Millers - who completed the double against United in the regular season - led against the run of play through Manny Ogurindge.
But Matt Rush - who started the season with Aveley - levelled against his old club before setting up Faal’s winner.
Maidstone created a series of chances but fell behind midway through the first half.
Sol Wanjau-Smith headed over after arriving in the box to meet Jephe Tanga’s right-wing cross early on.
Rush was denied by a fine save from Jonathan North after Tanga kept a Bivesh Gurung pass alive and squared.
North then made a double save from George Fowler after meeting a Sam Corne corner.
And the Aveley No.1 saved his side again by sticking out a leg to thwart Gurung after Tanga’s blocked shot dropped kindly.
These were all decent chances, with Maidstone well on top, but they trailed to a sucker-punch opener in the 27th minute.
Kenny Aileru worked the ball to Eduino Vaz whose cross looped over goalkeeper Lucas Covolan for Ogurinde to nod home at the back post.
There was no need to panic but the chances dried up before half-time with Aveley stopping balls coming into the box and showing they would be hard to break down.
Gurung, booked after a coming-together shortly before half-time, was substituted at the break.
Michael Klass took his place, with boss George Elokobi unable to risk the midfielder picking up a second yellow.
Maidstone probed away in the second half but a well-organised away side frustrated them until just after the hour mark.
First, the hosts threatened when substitute Faal’s deflected strike was kept out by North, with Aveley clearing the loose ball.
And United levelled in the 62nd minute after Corne’s deep free-kick was played back across goal by Reiss Greenidge for Rush to bundle home.
Covolan denied Charlee Hughes at the near post as Aveley had their first opening since breaking the deadlock.
Back came the Stones with a tricky run into the box by Klass.
And Rush almost had his second eight minutes from time after sliding in on Harry Kyprianou’s cross but North smothered.
The match was in the second of seven added minutes when Maidstone went in front.
Rush worked the ball to Faal in the box and, cool as you like, he eased the ball past North into the corner.
Maidstone: Covolan, Fowler (Bone 90+8mins), Greenidge, Brown, Tanga, Gurung (Klass 46mins), Corne, Kyprianou, Bentley, Wanjau-Smith (Faal 61mins), Rush. Subs not used: Adu-Poku, Earle.
Aveley: North, Carr, Vaz, Odelusi, Terry, Gibbs, Krasniqi (Jones 90+4mins), Kelly (Kelly 68mins), Ogurinde (Coleman De-Graft 79mins), Aileru, Hughes. Subs not used: Kyei, Brown.
Referee: Elliot Bell.
Attendance: 3,080.