Sorry just watched it again and have to say that is totally wrong.
As the attack develops with Viceno carrying the ball forward from the halfway line he's being tracked by two Tottenham players.
Meanwhile Davinson and Aurier are both marking Inter's Balde, who is on his own around the edge of the box, there is no other Milan player anywhere near.
At this point Asamoah starts to make a run down the right flank totally unmarked, but instead of going out towards him, leaving Davinson to take care of Balde, Aurier first makes a half-hearted attempt to go towards Viceno even though he already has two Tottenham players tracking him.
By this time Asamoah is in acres of space down the right flank. That is Aurier's territory and his responsibility but he's too busy ball-watching. Viceno then sees Asamoah totally unmarked and passes the ball out to him. It's only then that Aurier starts towards Asamoah but it is already too late, the Milan LWB has time to size up his cross / pass to Icardi for the striker to blast it into the net.