Kameron Loe (6-5) yielded a single to Matt Carpenter leading off the 10th, and he went to second on a wild pitch. One out later, Craig came up and chased him home with solid hit to right field.
Lance Lynn (14-7) earned the victory with a scoreless top of the 10th for the National League wild card-contending Cardinals, who avoided a three-game sweep.
Norichika Aoki forced extra innings with a two-out, two-run homer in the ninth for the Brewers.
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