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Opener Dean Elgar (27 not out) and Temba Bavuma (2) were at the crease at the draw of stumps.
The visitors are still trailing by 463 runs.
Earlier, India declared their first innings at 502 for 7, built around Mayank Agarwal’s (215) maiden double ton and Rohit Sharma’s 176.
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India: 502 for 7 in 136 overs (Mayank Agarwal 215; Keshav Maharaj 3/189)