Detroit Tigers rookie left-hander Joey Wentz grew up watching Zack Greinke.

Wentz, born and raised near Kauffman Stadium in Kansas City, idolized Greinke throughout his first seven years with the Royals, from 2004-2010, to begin a 19-year MLB career. This offseason, Greinke returned to his first team for what could be his final season.

On Tuesday, Wentz and Greinke squared off in Detroit.

The veteran won the pitching duel, but the Tigers battled back against the Royals' bullpen for a 4-3 victory in extra innings in the first of three games at Comerica Park. Harold Castro delivered a walk-off single into center field in the bottom of the 10th inning.

Facing left-hander Anthony Misiewicz, Tucker Barnhart bunted to advance free-runner Ryan Kreidler, who entered as a pinch runner, to third base. Pinch-hitter Eric Haase was intentionally walked, Riley Greene struck out swinging and Javier Báez drew another intentional walk, bringing Castro to the plate with two outs.

It was Castro's second walk-off hit of his career.

The Tigers (61-92) — winners in six of their past seven games, all since hiring Scott Harris as president of baseball operations — didn't have two runners on base at the same time until the eighth inning, facing right-handed reliever Dylan Coleman.

For that, Greinke deserves credit.

Wentz, in his sixth MLB start, completed five innings on 70 pitches but conceded three runs; Greinke, in his 513th start, fired seven scoreless innings — his longest outing of the season — on 86 pitches.

Therefore, the Tigers were pleased to see Coleman and wasted no time loading the bases. Spencer Torkelson walked, Jonathan Schoop reached safely on a fielder's choice and Akil Baddoo hustled for a bunt single with one out.

Riley Greene scored Torkelson on a grounder to third base for the Tigers' first run. The Royals challenged the call on the field, which was upheld. Third baseman Nate Eaton's attempt to throw out Torkelson at the plate failed.

After Javier Báez struck out, Harold Castro drilled a two-run single with two outs to tie the score at three runs.

Five Tigers relievers combined for five scoreless innings, including right-handers Jose Cisnero in the ninth and Alex Lange in the 10th. Lange stranded runners on first and second base with a pop out and double play.

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The 38-year-old Greinke allowed a leadoff single to Greene in the first inning but retired Báez, Castro and Miguel Cabrera in order. Cabrera, a 20-year veteran, struck out twice and grounded into a double play in the seventh inning.

In the third, Baddoo hit a grounder to Eaton at third base. Baddoo, thanks to his speed, beat the throw for an infield single. But he was picked off at first base on Greinke's third attempt for the second out, with Greene in a 3-1 count. Greene ended up drawing a seven-pitch walk, but Báez flied out to end the inning.

Greinke, throwing 56 of 86 pitches for strikes, gave up four hits and one walk with two strikeouts. He relied on a blend of fastballs, changeups, curveballs and cutters. His fastball, changeup and cutter all produced two swings and misses for a total of six whiffs. He also generated 14 called strikes.

The Tigers averaged an 86.6 mph exit velocity on 20 balls in play.

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While Greinke issued just one free pass, Wentz buried himself with three walks (and five hits) compared to four strikeouts over five innings. His command wasn't sharp, and his fastball averaged 91.2 mph, nearly 2 mph slower than normal. He needed 18 pitches in a two-run second inning and 25 pitches in a scoreless third.

A six-pitch leadoff walk to Edward Olivares came back to haunt Wentz in the second inning. The next batter, Hunter Dozier, skied a first-pitch cutter into the left-field corner. The ball — inside the foul pole — carried over the wall and into the seats for a two-run home run.

The Royals took a 2-0 lead.

In the third, Wentz faced Dozier again. This time, the Royals had two outs and two runners in scoring position. He caught Dozier looking at a 75.9 mph curveball in the strike zone for a crucial inning-ending strikeout.

To end his outing, Wentz needed 11 pitches in the fourth and seven in the fifth. Second baseman Jonathan Schoop caught a line drive from MJ Melendez and doubled off Eaton retreating to third base, ending the fourth.

Before the double play, Eaton tripled — driving in Michael A. Taylor (walk) — to put the Royals ahead 3-0.

Wentz threw 45 of his 70 pitches for strikes, using 31 four-seam fastballs (44%), 22 cutters (31%), 12 changeups (17%) and five curveballs (7%). He generated seven swings and misses, including six cutters, and 10 called strikes.

Contact Evan Petzold at epetzold@freepress.com or follow him on Twitter @EvanPetzold.

This article originally appeared on Detroit Free Press: Harold Castro's walk-off hit lifts Detroit Tigers to 4-3 win over K.C.