The Brewers entered the seventh inning trailing by a run, but they strung together four straight two-out hits to take the lead, bookended by a pair of infield singles from Nyjer Morgan and Braun.
Morgan hit a pinch-hit single up the middle off Ryan Webb's glove to begin the rally, and he came around to score on an Aoki double off Mike Dunn to tie the game. After a single by Rickie Weeks against Carlos Zambrano, Braun tapped a ball toward third, where Donnie Murphy didn't have a chance to make a play, as Aoki scored the go-ahead run.
"We caught a break on Braun's ball," Roenicke said. "We don't get many of those, and it was really timely."
The seventh-inning rally erased a one-run hole the Brewers found themselves in after righty Shaun Marcum gave up a pair of homers in the middle innings, the first two he has allowed since returning from the disabled list.
Marcum held the Marlins to just two hits, both singles, through the first three frames, but faltered in the fourth and fifth innings. Giancarlo Stanton hit a towering solo shot to center field to lead off the fourth, and in the fifth, Marcum surrendered a two-run shot to Gorkys Hernandez.
It was Hernandez's first career home run, and it marked the fourth time this season Marcum has allowed multiple round-trippers. Hernandez's blast capped the Marlins' rally that erased a three-run Brewers advantage.
"Any time you go out there and they give you an early lead, you obviously want to keep it, but I didn't do my job in keeping the lead," Marcum said.
Marcum pitched 5 2/3 innings and gave up the four runs on seven hits and a walk in his third start since June 14, when he was placed on the 60-day DL. Roenicke thought Marcum was efficient with his 86 pitches, keeping Milwaukee in the game despite struggling some with command.
"I'm getting there," Marcum said. "I'm feeling good when I start. It's going to get better with location. I'm missing location way too much right now. I'm giving these guys a chance to win. That's the most important thing."
Marcum kept the game close on the mound, but he also had a hand in building the Brewers' early lead.
With two out in the second, Marcum lined a single to right off lefty Wade LeBlanc to set up Aoki, who deposited a 1-0 offering into the visitors' bullpen in right field to give the Brewers a three-run advantage.
It was Aoki's seventh homer of the season, and his first since July 29 against the Nationals. He finished the night 2-for-5 with his first career three-RBI game.
"He really was good today," Roenicke said. "Even the last ball they caught [that he hit to] left-center, he hammered it. This is a big ballpark, and he goes deep to right-center and hits a ball to the warning track in center. He hammered balls today."
The home run extended Aoki's hit streak to eight games, and he is hitting .419 during that span.
"It's good to be on a hot stretch right now, but I just got to take it day by day," Aoki said through his translator.
Aoki's blast, the Brewers' 169th of the season, was close to being Milwaukee's second of the night. Braun smacked a ball to the deepest part of Marlins Park in the first, but the ball caromed off the wall for an RBI double to plate Rickie Weeks, who reached on a one-out single.
The Brewers put the Marlins away in the eighth, and they got No. 170 in the process. Bianchi launched a three-run shot to left field off reliever Chad Gaudin for his third homer of the season.
"A lot of people say a bloop and a blast," Marlins manager Ozzie Guillen said. "That's what happened to us today. A couple of bloops and a blast. That blast was pretty big, because that was three runs.
"That put us in a very bad position when you only have two innings to play."