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Formula One leader Max Verstappen was twice penalised for clashes with title rival Lando Norris and finished sixth.
Verstappen's podium finish left him 57 points clear with five rounds remaining.
The two have been together through Hamilton's 12 years at Mercedes and their radio exchanges have become part of the language of the sport for a global television audience.
McLaren's Oscar Piastri finished runner-up, 7.1 seconds behind after 78 laps without a chance to overtake on a circuit that often produces processional races, and Ferrari's Carlos Sainz was third.
The fans also paid tribute to Austrian Roland Ratzenberger, who had been killed the day before Senna died after an accident in qualifying. The deadly weekend in 1994 triggered a major safety review, changing the sport for ever.
The 39-year-old Briton is set to replace Spanish driver Carlos Sainz at Ferrari.
The five-year agreement with Peroni's 0.0% non-alcoholic version of the beer -- for which financial details were not disclosed -- starts this year and includes branding on Ferrari cars and driver uniforms.
McLaren's Lando Norris and Mercedes' Lewis Hamilton completed the top three.
Sainz was deemed 'wholly to blame' for the first corner collision with Aston Martin's Fernando Alonso, who ended up third, at the final re-start of the triple red-flagged race.
Schumacher, whose Ferrari great father also raced for Mercedes from 2010-12, will attend every Grand Prix as back up for seven-time world champion Lewis Hamilton and George Russell.
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