Despite trailing by 9 points at one stage, Kildangan fought back to ensure that it finished; Kildangan 2-19 Nenagh Eire Og 4-13.
Replay details are yet to be confirmed.
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Loughmore-Castleiney await the winners of that replay in the final.
They beat Borris-Ileigh by 1-17 to 2-12 in the first semi-final at Semple Stadium.
