Boston’s Ime Udoka and Miami’s Erik Spoelstra have known each other for decades, and will match wits when the Celtics and Heat open their Eastern Conference final series on Tuesday.

Grant Williams scores 27 points as Boston beats Milwaukee, 109-81.

The Celtics center has missed the last three games with a bone bruise in his left knee.

The Celtics bounced back from a tough loss in Game 5 to earn a trip back to Boston for Game 7 against Milwaukee.

Williams will miss his third straight game with a knee injury.

Led by Jayson Tatum, Boston overcomes a 44-point, 20-rebound performance by Giannis Antetokounmpo and beats Milwaukee, 108-95.

Boston must win Friday night in Milwaukee, or its season will be over.

Boston blows a 14-point lead in the fourth quarter and must win Friday in Milwaukee to keep its season alive.

Trash talk from Giannis Antetokounmpo didn’t sit well with Boston’s Al Horford, who was dominant in the fourth quarter of the Celtics’ 116-108 win in Game 4.

Williams is out due to soreness in his surgically repaired left knee.