Matty Peet’s side will now face Huddersfield Giants at the Tottenham Hotspur Stadium on May 28.
Despite leading 14-0 at half time, the Warriors needed to come from behind after the break in order to book their place in the final.
Liam Marshall went over for a brace in the victory, while Cade Cust and Liam Farrell were also on the scoresheet.
Here are the standout moments from Saturday’s game:
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