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The game finished 2-1 to Forest.
However, there was a lengthy delay over whether Milenkovic was offside, or if Nicolas Dominguez - who was in an offside position - was interfering with play at the time of the goal.
Officials ultimately decided he had not impacted on play, with Milenkovic clearly standing in an offside position as the goal was finally awarded to Forest.
But fans were left frustrated by a six-minute delay before Forest could celebrate going 2-1 up.
The Premier League blamed technical difficulties and said newly-introduced semi-automated offside technology was "not available".
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A statement said: "The referee’s call of goal was checked and confirmed by VAR – with Milenkovic in an onside position and Domínguez in an offside position, but deemed not to be impacting on play.
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"The semi-automated offside technology was not available to the VAR in this incident.
There were also issues with the VAR communications to the on-field officials."
Carragher vented his anger towards the delay and said it summed up why supporters were so fed up of VAR.
You can hear the reaction in the ground..."
Jamie Carragher was fuming about the delay and said it summed up why fans were fed up with VAR(Image: Getty Images)
Fans were furious on social media as one wrote: "They were desperate to disallow that, what a farce.
You could spot after 30 seconds Milenkovic was onside."
Another said: "VAR spending 5 to 10 minutes trying to find a problem with Milenkovic’s goal.
This is meant to be the peak of football, just woeful."
A third added: "Ridiculous how long that VAR check actually took, it was clear Milenkovic who scored it wasn’t in an offside position so should have been given and moved on.
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