Franck Kessie turned in from close range to give the Ivorians a 30th-minute lead, but Undav volleyed home midway through the second half before snatching an injury-time winner.
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Germany had the ball in the back of the net before the first hydration break but a foul on Ivory Coast goalkeeper Yahia Fofana kept the game scoreless, though not for long.
Shortly after play resumed, Ivory Coast captain Franck Kessie poked the ball past Manuel Neuer for the lead. Ivory Coast's Franck Kessie celebrates after scoring the opener.
German striker Kai Havertz then had a goal disallowed for a foul but their luck started to turn in the second half when substitute Undav sent the ball into the roof of the net to equalise. Germany pressed for the winner and Undav was the hero, slotting the ball home in the 94th minute.
Germany top Group E with six points and are through to the last 32 while Ivory Coast remain on three after two matches. Ecuador and Curacao meet in Kansas City later on Saturday.
(FRANCE 24 with AFP, Reuters, AP)
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