Auburn went nearly seven minutes without a bucket before Sullivan ended the drought with a jumper. The Aggies led by as much as 11 down the stretch, but the Tigers scored the last six points to pull within 34-27 at halftime, the last on a fast-break layup by Wallace.
The Tigers kept whittling away at Texas A&M's lead. When Denson stole the ball and scored on a layup, he finished off the three-point play at the line to tie it up at 47 with 11:16 to go.
"I thought we were going to take the game," Denson said. "But ... defensive lapses really held us back."
Harris put the Aggies back up 50-47 with a 3-pointer, the start of a 9-2 run capped by a jumper from Roberson to push the lead to 56-49 with 6:13 left.
"We just stayed together," Roberson said. "Everybody stayed together and we just came as a team and said we have to dig down deep."
Auburn couldn't get closer than four the rest of the way, the last when Denson made a three-point play with 33.9 seconds left. The Aggies finished off the win by hitting 11 of 12 at the free-throw line in the final 1:48.