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He guided Italy to success at the European Championship in 2021 but the team once again failed to qualify for last year's World Cup in Qatar.
Lauren Hemp also scored for the European champions, who now face hosts Australia on Wednesday in Sydney for a place in their first World Cup final.
Australian goalkeeper Mackenzie Arnold saved three French penalties and missed one herself in a the shootout.
Five days after ousting four-time champions the United States in the last 16, the Swedes dominated the 2011 champions for most of the evening.
The sixth-ranked La Roja had not advanced past the round of 16 in two previous two World Cup appearances.
Japan are the only previous World Cup champions remaining, having climbed the winners' podium in 2011.
Eugenie Le Sommer scored twice as France eased to a 4-0 win over Morocco and set up a quarterfinal with co-hosts Australia.
In a madcap shootout, Lina Hurtig struck the winning spot-kick, though US goalkeeper Alyssa Naeher parried the ball on the line and the result needed to be confirmed by VAR.
Roord's header gave her side an early lead and Lineth Beerensteyn added the second goal courtesy of a goalkeeping error in the second half to secure the win.
Although Japan conceded their first goal of the tournament to Guro Reiten's header, an own goal from Norway's Ingrid Engen as well as second-half strikes from Risa Shimizu and Miyazawa got them across the line.