Worcestershire secure second place in Division Two, behind champions Durham to be promoted back to Division One; watch the ICC Cricket World Cup live in full on Sky Sports between October 5 and November 19
On-loan Essex seamer Ben Allison contributed a crucial career-best 75 off 118 balls and shared in stands of 77 for the sixth wicket with D'Oliveira and 79 for the eighth with Joe Leach as the visitors fell just short of 400.
It was the captain's first hundred for his county since June last year, but he was denied the fairy tale of hitting the promotion-clinching runs when struck on the back pad by Milnes.
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