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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.
A trademark curling free-kick in the 85th minute, Messi's seventh goal in four games for Miami, took the game to a shootout after the Argentine's side had trailed 4-2 with 10 minutes to go.
For Red Bull, it was 13th consecutive win, a record in the sport's 73-year history.
The Hungarian GP win was Red Bull's 12th straight.
The championship leader beat McLaren's Lando Norris to the first place in Silverstone.
It was the Dutch driver's seventh win of a dominant campaign accelerating him ever closer to a third Formula One crown.
The 60-year-old coached Messi and Busquets at Barcelona in 2013-14 before managing Argentina from 2014-16.
The 32-year-old has a contract until June 2025 with an option for a further year, while the Spanish champions also said they had included a buyout clause of 400 million euros ($435.72 million).
Gundogan will leave City after captaining the English club to the Premier League, FA Cup and Champions League last season, ending a successful seven-year stint in England where he won 14 trophies, including five league titles.
The Dutch 25-year-old led every lap as he took his career tally to 41 wins, stepping up alongside Brazil's late triple champion Ayrton Senna in the record books.