Limerick needed extra-time before they booked their place in the Allianz NHL Division One final after beating Clare 3-23 to 2-23.
The effort was made all the more dramatic as they trailed by eight points with time fast running out. They eventually levelled 3-15 to 2-18 in Thurles at the final whistle.
Andrew O'Shaughnessy hit the final point, with three minutes of extra-time left to put a goal between the two sides.
Limerick will now take on Kilkenny who beat Tipperary 3-20 to 2-11.
Today's Results
NFL DIV 1 final
Galway 0-08 Kerry 2-08 - Pairc an nGael
NFL DIV 2 final
Donegal 0-17 Louth 3-08 - Breffni Park
NHL DIV 1 semi-final
Clare 2-23 Limerick 3-23 (aet) - Thurles
Kilkenny 3-20 Tipperary 2-11 - Thurles
NHL DIV 2 semi-final
Kerry 1-17 Mayo 1-16 - Cusack Park
NHL DIV 2 relegation-semi final
Roscommon 0-07 London 1-07 - Fingallians
U21 FC semi-final
Mayo 1-12 Tyrone 0-14 (aet) - Breffni Park
Laois 2-13 Cork 2-13 (aet) -Pairc an nGael