The Wallabies held a 6-5 lead at the interval after Bernard Foley's pair of penalties nudged them in front following Ollie Smith's opening try, which Kinghorn failed to convert.
A STUNNER 🤩
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Ollie Smith 👏#SCOvAUS #AutumnNationsSeries
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But Kinghorn seemingly put Scotland in command after the break, pouncing on a handling error by Australia to kick ahead for himself twice and scoop up for Scotland's second try.
KINHORN 👑#SCOvAUS #AutumnNationsSeries
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He added the extras and then knocked over a penalty to make it 15-6, only for the sin-binning of Glen Young to put Scotland on the ropes.
Australia capitalised when man of the match James Slipper barged his way over. Foley converted and then made no mistake with a three-pointer to give the Wallabies a one-point lead.
Kinghorn, though, had the chance to have the final say after Australia were penalised at the breakdown, but his kick drifted wide of the left-hand post to give the Wallabies a first win in four against Scotland.