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Miley Cyrus performs in her undies after missing BANGERZ costume change

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Miley Cyrus performed "23" in her underwear during her Milwaukee BANGERZ concert on Sunday because she didn't have enough time to change into her next costume.

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The bra-and-panties outfit (see below) raised eyebrows among fans, prompting the singer to take to Twitter afterwards to clarify.

She wrote: 

 

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