Danilo's first-half strike was cancelled out in the 84th minute by Lovro Majer , before Thiago 's penalty and Gabriel Martinelli 's late finish completed the late turnaround.
After the game, Thiago said: "It's the greatest achievement of my life. I thank God... God is faithful, God has already written my story, and this was the day he chose for me to represent my country and score my first goal with the Canarinha."
Ancelotti also stated: "The thing that pleases me the most is that the new players have made the most of their opportunities. Clearly, this makes the selection of the final squad more difficult. Because Igor Thiago, Léo Pereira, and Danilo played well. Endrick also played very well; Kaiki, too."
Elsewhere, Mikkel Damsgaard and Mathias Jensen were beaten in their World Cup play-off final, as Denmark lost against Czech Republic on penalties. Damsgaard played 115 minutes before being replaced by Jensen, who put his penalty wide in the shoot-out.
Ethan Pinnock and Jamaica also missed their chance to go to the World Cup, losing in extra-time to DR Congo. Pinnock played 120 minutes in the 1-0 defeat.
In friendlies, Nathan Collins and Caoimhín Kelleher both featured for the Republic of Ireland against North Macedonia. Collins played 90 minutes, with Kelleher substituted on the hour mark, as the sides drew 0-0 in Dublin.
Ukraine also played on Tuesday night, winning 1-0 against Albania. Yehor Yarmoliukplayed 64 minutes, picking up his ninth cap.
Elsewhere, Kristoffer Ajer started as Norway drew 0-0 with Switzerland ; Hákon Valdimarssonstarted Iceland's 1-1 draw with Haiti ; Kevin Schade was an unused substitute as Germany beat Ghana 2-1; Jordan Henderson wasn't in the England squad that lost 1-0 to Japan at Wembley.
Burkina Faso drew 1-1 with Guinea-Bissau, with Dango Ouattara starting the game, while Nigeria drew 2-2 with Jordan, as Frank Onyeka played 81 minutes for the Super Eagles.
Michael Kayode played 90 minutes as Italy Under-21s beat Sweden 4-0 in European Championship qualifying, which leaves them second in their group.
England Under-20s were held to a 3-3 draw by Italy as they travelled to Rome for a friendly, with Jayden Meghoma playing 78 minutes.
