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She had also missed the season-ending championships in Cancun due to the injury.
Rajeev Ram and Joe Salisbury took the men's doubles award while Storm Hunter and Elise Mertens claimed the women's doubles title.
The Pole broke Pegula five times and won the final 11 games in a 59-minute slaughter to capture her first WTA Finals title in a match delayed by a day due to rain
The win by the cool and collected Swiatek sets up a final showdown with American Jessica Pegula, and she can end the year on top if she is able to hoist the trophy
The second semifinal between Swiatek and top seed Sabalenka was cancelled for the night due to rain.
Swiatek will next face Sabalenka in the semifinals, while Gauff will lock horns with Pegula for a place in the final.
American Pegula booked a semifinal spot at the season-ending tournament with a 6-3, 6-2 victory over Sakkari.
All four players in the group can reach the semifinals.
Swiatek completed the first set comeback on a double fault and a disillusioned Vondrousova went quietly in the second set.
Pegula won 10 of the last 12 games to get past an error-prone Rybakina and notch up a 7-5, 6-2 win.