Milenko played the full 90 minutes in Slovenia's 2-2 draw against Cyprus as they booked second place behind France in Group One.
Simon Davies missed Wales' 3-2 defeat against Serbia & Montenegro at the Millennium Stadium - Goran Bunjevcevic played for Serbia & M - but Wales were already guaranteed a play-off spot.
Stephen Carr and Robbie Keane both played as Ireland suffered a 2-0 defeat against Switzerland to finish third in Group 10. Gary Doherty was an unused substitute with assistant manager Chris Hughton on the bench.
Wales and Slovenia join Scotland, Norway, Spain, Turkey, Holland, Croatia, Russia and Latvia in the play-offs.
England made it through with a draw in Turkey to join France, Greece, Denmark, Germany, Czech Republic, Sweden, Switzerland, Italy and Bulgaria in Portugal next summer.
Milenko Acimovic and Simon Davies will face Euro 2004 play-offs next month - but there was disappointment for our Irish quartet.