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Sarri led Juve to a ninth straight Serie A crown this season, but failed to improve their standing in the Champions League as they headed out on the away goals rule against Lyon in the last 16 on Friday.
The role is Pirlo's first as a coach and while Mancini feels the Italy great is fortunate to have landed such a high-profile job, he thinks it will prove to be an astute appointment.
"I did not expect Juventus to go out of the Champions League," Mancini told La Gazzetta dello Sport. "I was sure they would have advanced.
"But it was a terrible, unpredictable and difficult year. Especially for those who have made changes, like Juve. Sarri wasn't able to bring through his football.
"Pirlo is lucky. He starts from the top and with the best team. Maybe I didn't start from the bottom, but I started at Fiorentina, not with Juve.
"Jokes aside, if I was searching, I would have been looking at Andrea. He has great knowledge of football. Like Daniele De Rossi. I would have liked to work with him.
"There's always a first time. Andrea opens up a new path. Let's follow him. Good luck to him."
"Let's calm down and think of PSG, who are a great team and have more experience," Mancini said.
"They are certainly not at the top. They have lost Edinson Cavani, will not have Angel Di Maria, Marco Verratti, Kylian Mbappe and some others who are in doubt.