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Villarreal face Arsenal in the other semi after the Gunners thrashed Slavia Prague 4-0 away to complete a 5-1 aggregate victory.
United became only the second team to win a Premier League game 9-0, matching their 9-0 win over Ipswich Town in 1995 and also Leicester City's away rout of Southampton in 2019.
The 33-year-old Uruguayan used the word "negrito" in an Instagram post last month after beating Southampton on November 29, before taking it down and apologising.
Manchester United were held to a 2-2 draw at Leicester City while Manchester City climbed to fifth thanks to a 2-0 win over Newcastle United.
United, PSG and RB Leipzig all on nine points heading into next week's final round of games in which the English side go to the German club and the French champions host Istanbul Basaksehir.
Edinson Cavani came off the bench to score twice for Manchester United who overturned a 2-0 half-time deficit at Southampton to win 3-2 -- a club-record eighth successive away league win moving them into the top half.
Brazil beat Uruguay 2-0 to maintain their perfect record, while Argentina returned to winning way with 2-0 result over hosts Peru.
Uruguay's Edinson Cavani scored early and fellow striker Luis Suarez converted a second-half penalty, his fourth in three games for his country, as they beat Colombia 3-0.
Basaksehir scored their first Champions League goals and clinched their first points in the competition on a historic night for the club.
United, who had lost their opening two home games of the season, have seven points from five games and are in 15th place while Chelsea are in sixth place on nine points from six games.