MIAMI — David Robertson said if he was needed he could have pitched during the Yankees’ 2-1, 12-inning over the Marlins Tuesday night. But when Aaron Boone called for A.J. Cole to start the 11th inning it was clear the manager was staying away from the right-hander, who had a tender shoulder.

“I played catch [Tuesday] and I quite felt I wasn’t 100 percent,’’ said Robertson, who hasn’t pitched since Friday. “I told [pitching coach] Larry [Rothschild] to see if I could try and get a day [off]. Of all days it turned out to be this game. If they need me I should be there [Wednesday].’’

Gary Sanchez is expected to begin a minor league rehab assignment on Thursday in the Gulf Coast League. If all goes well the catcher will move to Triple-A Scranton/Wilkes-Barre and play a week of games before being considered to come off the DL. Sanchez is on the shelf with a right groin problem.

Boone said Aaron Judge is showing improvement but is not yet cleared to get a bat in his hands. Judge is on the DL with a fractured right hand.

“Better [Tuesday] but not at the point where we can put a bat in his hand,’’ Boone said. “The fracture will tell us when.’’

Alex Rodriguez was in uniform and observing the Yankees’ early batting practice and fielding drills Tuesday at Marlins Park. Rodriguez was seen on the field talking to third baseman Miguel Andujar and later sat with Andujar at his locker.

Promoted from SWB on Tuesday, first baseman Luke Voit was drilled in the back during batting practice by a liner off Aaron Hicks’ bat. Voit was near first base and not behind the screen.

Marlins boss Derek Jeter didn’t make it down to the field during the Marlins and Yankees’ batting practice on Tuesday, but his parents, Charles and Dorothy, were watching from the field near the Marlins’ dugout.

According to Boone, Clint Frazier has been hitting and running outside in Tampa. The outfielder is on the DL with post-concussion migraine headaches.