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Kent 291 (Bell-Drummond 109, Cox 68, Robinson 58, Rauf 5-65) and 393 (Compton 93, Stewart 91, Robinson 85*, Patterson 5-54) drew with Yorkshire 571 (Brook 194, Malan 152, Bess 98)
Yorkshire were denied the opportunity to chase 114 in the final 21 overs of a pulsating final day by bad light as Kent secured an LV= Insurance County Championship draw at Headingley.
Kent looked to be in safe waters at 384 for 6 in their second innings, a lead of 104 and time running out.
But Yorkshire captain Steve Patterson was at the heart of a loss of four wickets for nine runs in 24 balls. He claimed three of them to finish with 5 for 54 in 29.3 overs, only for the 38-year-old's return to go unrewarded.
Credit should go to Kent, though. They avoided a third defeat in four games and denied their hosts a second win in three to start 2022.
Opener Compton and wicketkeeper Robinson played similarly doughty innings, while injured all-rounder Stewart (hamstring) was far more aggressive as he struggled for mobility and required a runner.
Kent started the day on 118 for 2, trailing by 162.
Compton is now the top division's leading run-scorer with 560 and fell before lunch to leave the score at 182 for 5.
Stewart and Robinson then shared 166 for the seventh wicket, a Kent record in matches versus Yorkshire, either side of tea having come together at 218 for 6, a deficit of 62 with 56 overs still to bowl.
At that stage, Yorkshire were on top. The pair dug in initially before Stewart opened his shoulders.
His 58-ball fifty was almost twice as quick as his partner's. Kent reached tea at 312 for 6, leading by 32 with 35 overs remaining in the game.
And they all but doubled the lead in the first two overs of the evening, including Stewart hitting two sixes to take the lion's share of 20 off a Jordan Thompson over.
More runs were to follow, with Stewart's 91-ball innings featuring four sixes, all either slog swept or pulled.
But he was run out clipping to mid on before Patterson trapped Matt Milnes lbw and had Nathan Gilchrist and Matt Quinn caught at mid off to raise home hopes of a first 24-point haul since the final game of 2018.
Instead, they had to settle for 16 points to Kent's 11.
Last week, Yorkshire were thwarted for the first time in as many weeks when they were unable to take 10 wickets on day four against Northamptonshire at Wantage Road.
Stewart suffered a hamstring problem whilst bowling on day three and required Jordan Cox as a runner when he arrived at the crease.
Yorkshire's bid for victory, meanwhile, was hampered by the loss of Pakistan fast bowler Haris Rauf, who was unable to bowl in the second innings with a side issue.
Play was watched by new Yorkshire chair Lord Kamlesh Patel and dignitaries of one of the club's new principal partners, Clean Slate Studioz, including owner Karnesh Ssharma - the brother-in-law of Virat Kohli.
An overcast sky hung above Headingley for the majority of the day, with the floodlights turned on as early as the second over of the day. So it was no real surprise that bad light played its part.
Yorkshire's first breakthrough came via Patterson, who removed opposing captain Jack Leaning - his former team-mate and close friend - for 36.
When Leaning under-edged behind attempting to leave alone in the day's sixth over, the 56th of the innings, Kent were 126 for three with a deficit of 154.
George Hill then struck twice with his canny medium pacers before Patterson's late intervention.
The match was deemed a draw just before 5.45pm, half an hour after bad light initially intervened.
Bad light denies grandstand finish after Compton, Robinson anchor Kent rearguard
Yorkshire were set to chase 114 in 21 overs, but conditions have final say
Harry Brook falls just shy of double-ton as Yorkshire edge towards victory
England head scout James Taylor was on hand to see young batter's knock against Kent
Dawid Malan, Harry Brook hundreds bolster Yorkshire revival led by Haris Rauf's five-for
Kent started day two on 270 for 6, only to fall to 291 all out as Rauf takes 5 for 65