Former Italy defender Panucci played for both clubs during his career.
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He told Sportmediaset: "Roma conceded some naive goals, when they had the ball they didn't develop a quality game against a well-positioned Milan, who deserved it.
"Roma disappointed me a bit. Milan has an important squad, now it's up to the coach to turn it into a team because they have a lot of quality and a strong team.
"Now the balance in midfield will be important."