Werder Bremen sealed promoted, Hamburg beat Darmstadt to the play-off place and Schalke won the title on an enthralling final day in Bundesliga 2.
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Bremen claimed a 2-0 victory at home to Jahn Regensburg to secure their immediate return to the top flight.
Hamburg will face Hertha in the promotion/relegation play-off after coming from behind to beat Hansa Rostock 3-2.
Rodrigo Zalazar scored one of the goals of the season as Schalke signed off with a title-clinching win in Nuremberg.
Darmstadt made light work of Paderborn, but missed out on a place in the play-offs on goal difference because of Hamburg's win in Rostock.
St. Pauli finished the season on a high, in the process ending Daniel Thioune's 11-game unbeaten start in charge of Fortuna Düsseldorf.
Linton Maina scored twice as Hannover climbed to 11th with victory over bottom side Ingolstadt.
Kevin Sessa's brace took Heidenheim to sixth, leaving Karlsruhe in 12th place.
Sandhausen returned to winning ways after scoring three first-half goals against Holstein Kiel.
Nicolas Kühn fired relegated Erzgebirge Aue to a Saxony derby victory against Dynamo Dresden, who will have had one eye on their relegation play-off with 3. Liga's Kaiserslautern.
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