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Lorenzo, who had recorded his first win with Ducati last time out at Mugello, beat the resurgent Marc Marquez by 0.066s late on in the Q2 decider.
Marquez had been consigned to his second-ever Q1 appearance in MotoGP by a late crash in third practice, but made short work of advancing to the pole shoot-out.
He ended his first run in the opening segment with a comfortable lead, and gradually improved his time with several successive laps late on, never threatened by any of the other Q1 riders.
As Q2 kicked off, Lorenzo took the initial lead, only for Marquez to fire in a 1m38.886s – the best lap of the weekend at that point, completed in tow behind Tech 3 Yamaha’s Johann Zarco – which left the reigning champion almost four tenths clear after the opening runs.
Dovizioso improved to within 0.037s of pole as the final runs kicked off, only for Marquez to respond immediately, recording a 1m38.746s.
But Lorenzo, who appeared to rage at his crew after coming into the pits for his bike swap, was even faster, finding time on Marquez in the final sector and securing pole position with a 1m38.680s.
Lorenzo still had time for a final flying lap, but did not make gains, which left him vulnerable to last-gasp efforts from Dovizioso and Marquez.
Dovizioso had been up on Lorenzo two sectors in after the chequered flag, but came up on Yamaha’s Maverick Vinales and couldn’t improve.