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The striker scored twice but was later sent off as United stunned their League 2 hosts 4-2 to set up a second-round tie at MK Dons.
He’d only scored once before the trip to Whaddon Road but headed Jay Saunders’ side in front and made it 4-1 before seeing red for a challenge on Mo Eisa midway through the second half.
Sam-Yorke said: “It was a bit of an up-and-down afternoon with the two goals and the sending-off.
“I kind of put the boys under pressure with the red card but what can I say?
“I’ve gone in maybe a bit recklessly but I haven’t touched him at all.
“I was annoyed at myself because I’m quite a disciplined person and I was on my hat-trick as well, which I wanted to get.
“As a striker, scoring a goal is one of the best feelings ever. I know I’ve been kind of shy in front of goal recently but this was a good day to get a couple of goals.”
Sam-Yorke was able to watch the rest