A sell-out crowd saw the Pics` keeper Jake Weaver called into action after just 2 minutes to deny Matt Stenson from giving Boro an early lead.
The hosts then struck the top of the crossbar from a Ryan Beswick free-kick and then on 25 minutes, it was the visitors turn to strike the woodwork through Alex Cameron.
But right on half-time, Rushall had a great chance to break the deadlock when they were awarded a penalty, only for Boro `keeper Tony Breeden to save Andre Carvalho-Landell’s spot-kick.
The second half started with Boro on the front foot and Weaver had to be alert to save well from Joe Magunda and Kane Richards and he then tipped a Scott McManus effort over the bar.
The tense finale saw 7 minutes of added time at the end of the game but neither side could find a breakthrough.
So, it was extra-time and nerves from both sides saw little in the way of chances being created, although Richards came closest for the hosts.
No goals in the extra half-an-hour, so it was going to be a penalty shoot-out to decide who would be playing Step 2 football next season.
Weaver saved Nuneaton’s fourth penalty from Lathaniel Rowe-Turner, only for the Pics` Kristian Green to then hit the post with his effort.
But when Boro’s Ricardo Dinanga was unable to convert the fifth spot-kick, it was all over and Rushall triumphed 5-3.
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