Scott McLaughlin and Scott Dixon have finished seventh and ninth at Road America, while Josef Newgarden took the race win.
The start of the race saw a number of yellow flag periods with the first coming out before the end of the opening lap for Jimmie Johnson who stalled after running off track into the grass.
Shortly after the restart, the yellow flag was brought back out as contact between teammates Ericsson and Palou saw Palou run off track with damage.
Just a few laps later there was a third safety car after contact between Will Power and Devlin DeFrancesco, which saw power lose his front wing, he would continue on in the race but briefly fell off the lead lap.
Through the first pit stop sequence, Newgarden took the lead of the race, as many of the leading cars pitted together under green flag conditions, with Rossi who had led the race until his pit stop emerging from the lane behind the Penske car.
Newgarden held on to the lead of the race through the second round of pit stops, with Rossi staying in second, while McLaughlin and Dixon were running eighth and 11th at the time.
Colton Herta had a strong race moving up to fourth with 15 laps remaining after receiving a grid place penalty for an unapproved engine change which saw him start from 11th rather than sixth where he qualified.
Pato O’Ward, who had been running comfortably inside the top ten, brought out another Safety car with just 8 laps remaining in the race after stopping on the side of the track as his engine cut out.
The green flag came back out with five laps to go, before another caution period almost immediately, as Helio Castroneves spun coming to the restart.
The race went back to green for a three-lap run to the chequered flag, with Newgarden holding onto the race lead.
Rossi who had run second the majority of the race lost a position to Ericsson on the final restart dropping back to third, while McLaughlin passed Graham Rahal to move into seventh with Dixon crossing the line ninth.
Main image: Chris Owens