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They were willing to listen to offers for Aurier but could not to find a buyer and have now ripping up his contract by mutual consent.
Aurier, who joined Spurs from Paris Saint-Germain in 2017, has one year remaining on his Tottenham deal but has been told he has no future at the club.
The Ivorian played 110 times for the north London side, scoring eight goals.
Aurier said: “I have really enjoyed my time at Spurs and would like to thank the club and the fans, but I feel now is the right time for me to move onto a new challenge.”
The Emerson deal was not dependent on offloading Aurier, however, with the new signing set to compete for a spot with Matt Doherty and Japhet Tanganga.
Emerson was Spurs’ fifth summer signing after Pierluigi Gollini, Cristian Romero (both on loan with an option to buy from Atalanta), Bryan Gil from Sevilla and Pape Matar Sarr, who will spend this season back on loan from Metz after signing from the Ligue 1 club.