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Captain Gianliugi Donnarumma and Esposito were the only familiar names in the Italy squad as interim boss Silvio Baldini named a younger squad while the nation waits to appoint a new coach.

Esposito was at the forefront of the action in the first half, flicking an improvised effort just past the left post before a bicycle kick from the Inter striker also went narrowly wide of the goal.

Niccolo Pisilli could only hit the side-netting after being found in the box by Esposito shortly after the half-hour mark, though the latter eventually made the breakthrough four minutes into the second half.

Esposito's header from Pisilli's out-swinging corner could not be kept out by Luxembourg goalkeeper Anthony Morris, who was also left stranded when Pisilli struck the woodwork shortly after from Luca Koleosho's cross.

Luxembourg failed to create any clear-cut chances from its nine attempts.