Opener Ben Slater hit 68, 15 wickets fell on Day Three meaning Warwickshire head into the last day needing 70 more runs to win with nine wickets in hand.
Duanne Olivier (4-134) and Hardus Viljoen (2-97) were quick to take the final four wickets and wrap up the Warwickshire first innings in little over an hour, with the hosts all out for 439 – a lead of 121.
Derbyshire’s second innings stuttered from the second over, before Slater and Alex Hughes (37) showed resistance. The hosts fought back in the final session to dismiss Derbyshire for 209 and set themselves a target of 89 to win.
They lost one wicket in their final innings chase, but reached the close on 19-1, 70 runs from victory.
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