The Rossoneri have decided to allow the coach to run down his contract.
Prandelli said: "For me they did a terrible thing to send Stefano Pioli away. In five years he has shown that he has seriousness, ability, he won a Scudetto, he made the most of many players.
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"This year he had a season with many injuries and many problems physically with players. I would definitely have kept Pioli."
He also told Radio Anch'io Sport: "It was an interesting season from many points of view: Inter dominated and deserved this championship, they had continuity, mentality, ability to maintain the objective of winning the Scudetto at certain moments of the season. Many teams fought for the title."