While the Millers are unbeaten in their five friendly outings, they were held to a second consecutive draw by Mansfield Town last time out and will look to return to winning ways.
Match preview
Off the back of a disappointing 2021-22 campaign, where they were relegated from the League One, Gary McSheffrey will be impressed with his side's preparations for the upcoming campaign as they look to make an immediate return to the third tier.
Doncaster Rovers managed just 10 wins and eight draws from 46 games last season to collect 38 points and finish 22nd in the league table, two points off Fleetwood Town just outside the relegation zone.
However, they have shown signs of promise so far in pre-season, winning each of their four friendly outings, including a 1-0 victory over Championship side Huddersfield Town last time out.
While it is still early days, McSheffrey will be delighted with the performance at the defensive end of the pitch, particularly after the Rovers shipped 82 goals in the league last term — only Crew (83) and Morecambe (88) conceded more.
Doncaster Rovers have kept three clean sheets from their four outings as they prepare for the upcoming campaign, conceding just once while scoring eight goals.
On the other hand, Rotherham United secured an immediate return to the Championship last season as they finished second in the league standings last season.
The Millers picked up an impressive 90 points from 46 games, edging out third-placed Milton Keynes Dons to the automatic qualification spot while finishing just two points off league winners Wigan Athletic.
As they continue their preparations for the upcoming Championship season, Paul Warne's men failed to return to winning ways last time out, when they were held to a 1-1 draw by Mansfield Town at the Field Mill Stadium.
Following a drab first half, 22-year-old Joshua Kayode broke the deadlock on the hour mark before English forward Rhys Oates struck in the 85th minute to force a share of the spoils.
Prior to that, Rotherham United kicked off their pre-season friendlies with a run of three consecutive victories, seeing off Parkgate, Fleetwood Town and Harrogate Town respectively, before holding out for a 1-1 draw with Salford City on July 13.
Doncaster Rovers Club Friendlies 1 form:
Rotherham United Club Friendlies 1 form:
Team News
Doncaster Rovers remain without the services of 29-year-old forward Jon Taylor, who continues his long road to full fitness after suffering a severe ankle injury last November.
21-year-old defender Adam Long will be in line to make his debut after recently completing a move from Wigan Athletic.
Meanwhile, after the draw against Mansfield Town, Warne could ring the changes to his starting side with the likes of Oliver Rathbone, who made 42 league appearances last season, coming into the fold.
Northern Irishman Kayode found the target for the second game running against the Stags and could retain his place in the XI, forming an attacking duo with fellow countryman Conor Washington once again.
Doncaster Rovers possible starting lineup:
Mitchell; Whiting, Younger, Williams, Clayton; Biggins, Rowe, Ravenhill, Seaman; Miller, Molyneux
Rotherham United possible starting lineup:
Johansson, Mcat, Wood, Hull; Ogbene, Durose, Odofin, Rathbone; Kayode Washington, Kelly
We say: Doncaster Rovers 2-2 Rotherham United
While Tuesday's game remains a warm-up clash ahead of the new campaign, we anticipate a thrilling contest between the sides who have enjoyed a solid pre-season run. We predict the spoils will be shared in this one, with both teams cancelling out each other's efforts.
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