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Combine milk, egg and yolk, 1/4 cup granulated sugar, brown sugar, salt, and Minute tapioca in medium saucepan; let sit for 5 mins. Bring mixture to boil over medium heat, then reduce heat and simmer, stirring constantly for 2 mins. Off heat, stir in vanilla and scrape pudding into medium bowl. Cover tightly with plastic wrap and refrigerate until set, at least 1 hour or up to 2 days.
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