Espargaro, had claimed his first pole at the Styrian Grand Prix back in August, will start at the front of the grid in Valencia on Sunday after posting a fastest lap of one minute 40.434 seconds.
Suzuki's Alex Rins starts second with a time of one minute 40.475, ahead of Honda's Takaaki Nakagami, who suffered a late fall.
World championship leader Joan Mir will begin Sunday's race in fifth place for Suzuki, with his nearest challenger, Fabio Quartararo of Petronas Yamaha, down in 11th.
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Valentino Rossi, who is back after missing the last two rounds due to a positive COVID-19 test, starts in 18th place, while his Monster Yamaha team mate Maverick Vinales will start from the pit lane with a five-second penalty after exceeding the five engines per season limit rule. (Reporting by Simon Jennings in Bengaluru Editing by Christian Radnedge)
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