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Croatia have reached the semifinals for the second edition in a row. The Europeans have made the last four three times in total.
Livakovic saved three out of Japan's four penalties in the shootout after the teams were tied 1-1 at the end of extra time.
Japan and Croatia were tied at 1-1 in 90 minutes and at the end of 30 minutes of extra time.
Canada return to the World Cup stage after 1986.
Marcelo Martinez is hoping Messi will lift the trophy at his fifth and final World Cup.
Maradona had set up Jorge Burruchaga for the winner in the 1986 final at the Azteca Stadium.
Real will take on RB Leipzig, Shakhtar Donetsk and Celtic in the group stage.
They went down fighting to Jean-Julien Rojer and Marcelo Arevalo 6-4, 3-6, 6-7.
Bopanna, 42, and Middlekoop, 38, beat Glasspool and Heliovaara 4-6, 6-4, 7-6 (3) in two hours and four minutes to set up a semifinal clash with 12th seeds Marcelo Arevalo of El Salvador and Jean-Julien Roger of the Netherlands.
The Brazilian defender is the most decorated player in Real's 120-year history, picking up his 25th trophy with the club as they beat Liverpool 1-0 in the Champions League final on Saturday.