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Lorenzo and Rossi were quite evenly matched at the time when they were on the same bike and Lorenzo had finally matured as a premier-category rider. The period I'm referring to is the 2010 season until Rossis injury in Mugello.
They are different riders as far as their approach is concerned: Lorenzo is more of a "put the head down and sew the laps together with steel wire" rider whereas Rossi is more temperamental, a bit more prone to mistakes (and maybe a bit more sensitive to mis-setups of his bike) but totally unrivalled when it comes to a duel for the win.