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Hilario has spent 16 years at Stamford Bridge as a player and coach, over two spells.
Tuchel worked with the former goalkeeper during his time in charge of Chelsea and begins his tenure as England manager on 1 January.
It is understood Hilario was open to a job share but Chelsea were unhappy with that arrangement.
Martyn Margetson was England’s previous goalkeeping coach but he left with former manager Gareth Southgate after Euro 2024.
Hilario joined the Premier League side from Portuguese outfit Nacional in 2006, making 39 appearances before retiring in 2014.
The 49-year-old returned to Chelsea in 2016 as an assistant goalkeeping coach under Antonio Conte and was promoted to goalkeeping coach by Maurizio Sarri.
He remained part of the staff under Tuchel, Graham Potter, Mauricio Pochettino and current manager Enzo Maresca.
Tuchel, 51, was announced as Southgate’s successor on an 18-month contract in October.
The German has been tasked with trying to deliver a first major trophy since 1966 at the 2026 World Cup.
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