It was the Kiwi prop's first game since being stood down along with Todd Carney and Nate Myles, who are still out of the side, following a midweek drinking session last week.
The Roosters started well with backrower Brad Takairangi barging over for his first NRL try in the 13th minute after latching onto a Mitchell Pearce pass.
However, the Sharks hit back almost immediately when Ben Pomeroy intercepted a Pearce offload following a poor popped pass from Jason Ryles to scamper 30 metres to the line.
Nathan Stapleton's conversion clipped the post to keep the Roosters in front and Jared Waerea-Hargreaves stretched his side's lead with his first four-pointer of the year after 20 minutes, burrowing his way under the posts from close range.
The Sharks' responded positively with a sustained spell of pressure and Wade Graham showed no ill-effects from his huge hit by Frank Pritchard last week by brushing off three feeble Roosters tackles to score.
Graham then played provider to give the Sharks the lead, with an immaculate cut-out pass to find John Williams who strolled over to score.
The winger secured his double in controversial fashion when he was awarded a benefit of the doubt try on the stroke of halftime despite looking to have lost control of the ball to open up a 22-12 halftime lead.
The Roosters came racing out of the blocks in the second half with Friend going over eight minutes after the restart following some good footwork to reduce the deficit.
A booming penalty goal from Stapleton stretched the Sharks' advantage and Graham's field goal looked to have sealed the win only for the game to swing on a brain explosion from fullback Nathan Gardner.
A Pearce grubber kick, bounced off the posts and instead of diving on the loose ball, Gardner hesitated and Friend barged over.
With just two minutes left on the clock, Minichiello sent the home crowd wild with his 106th try for the club to seal the points before Nuuausala rumbled over the line in the dying seconds to add some gloss to the scoreline.
Waerea-Hargreaves was placed on report for a sickening high shot on Paul Gallen in the second half that left the NSW skipper bleeding from the mouth and the big Kiwi will be lucky to avoid a spell on the sidelines.
SYDNEY ROOSTERS 36 (J Friend 2 A Minichiello F Nuuausala B Takarangi J Waerea-Hargraves tries B Anasta 6 goals) bt CRONULLA 25 (J Williams 2 W Graham B Pomeroy tries N Stapleton 4 goals W Graham field goal) at Sydney Football Stadium. Referee: Steve Lyons, Adam Gee. Crowd: 8,761.
- AAP
