Pirlo's Juve looked set to drop out of the top four with 10 minutes to go on Sunday
Cristiano Ronaldo scored twice in the final 10 minutes to keep Juventus on track for a Champions League spot.
Juve can no longer win Serie A after Inter Milan's win clinched the title this weekend and their place in the top four even looked in danger against Udinese on Sunday.
Nahuel Molina gave the home side a 10th minute lead at the Stadio Friuli and they looked on track for three points until Ronaldo's late show.
The former Real Madrid forward converted a penalty in the 83rd minute and then scored the winner in the 89th.
Andrea Pirlo's side, therefore, end the weekend third in the table with 69 points, the same as second-placed Atalanta and fourth-placed AC Milan.
If they'd have lost to Udinese, they would have slipped behind Napoli, who have 67 points. Lazio, with 64 points, are also in the running for a Champions League place with four games left in Italy.
At the top, Inter wrapped up the title this weekend after beating Crotone when Atalanta failed to beat Sassuolo. With 12 points to play for, Antonio Conte's side are 13 clear.
Inter's success ends Juve's dominance of the Italian top flight. They were aiming to win Serie A for the 10th consecutive season.
The last side other than Juve to win the league was Milan, back in 2010-11.
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