Aaron Boone and the Yankees have been waiting for many of the team’s slumping former All-Stars to come through during Aaron Judge’s injury absence.

A couple of them did late in their game Saturday to lift the Yankees to another much-needed victory.

DJ LeMahieu’s first home run in nearly six weeks snapped a seventh-inning tie and Giancarlo Stanton hit a two-run homer in the eighth inning to propel the Yankees over the Royals, 5-2, at the Stadium.

The victory, their second straight following a 1-5 road trip out of the All-Star break, boosted the Yankees to 52-47.

Combined with the Red Sox’s loss to the Mets in the completion of a suspended game, the win also moved the Yankees out of last place in the AL East — at least temporarily.

“That felt good,” said LeMahieu, who finally is starting to heat up at the plate and is batting .317 (13-for-41) over his past 11 games. “Just trying to simplify but also stay loose and aggressive,

“I’ve been working on things that I took into the [All-Star] break, and I was just kind of really excited to get back after the break and get after it. I feel like I’m on the right track.”

LeMahieu’s full-count home run the opposite way over the right-field wall off Royals reliever Carlos Hernandez was his first in 26 games, since June 13 against the Mets.

It gave the Yankees a 3-2 lead in the seventh inning before Tommy Kahnle and Clay Holmes, who earned his 13th save, recorded the final six outs.

The Yankees will go for a three-game sweep of the Royals, who own the second-worst record in baseball (28-72), on Sunday with Luis Severino on the mound.

“We’ve put together a couple of good games, and if we go and get this one tomorrow, it will feel even better,” LeMahieu added. “It’s been a bit of a grind, for sure, as a team and personally, but I truly think it’s going to make us stronger in the long run and better in the long run. … Getting Judgie back soon will be nice, too.”

Judge, the reigning AL MVP, is slated to take live batting practice before the game Sunday for the first time since he tore a ligament in his right big toe in early June.

“We’ve been a little bit better, and the last two nights, the contributions have been spread around a little bit, too,” Boone said. “We just gotta keep doing it. It’s two games, and we have a chance to have a great series.”

Gerrit Cole allowed two runs over 6 ¹/₃ innings, striking out and 10 and walking one in his first start working with catcher Ben Rortvedt.

Cole’s usual catcher, Jose Trevino, is expected to miss the remainder of the season after wrist surgery.

After Cole struck out two in an 11-pitch first inning, the Yankees grabbed a quick 1-0 lead against Kansas City starter Brady Singer in the bottom half.

Billy McKinney, batting in the leadoff spot after he belted a key three-run homer Friday night in a 5-4 win, drew a walk before Gleyber Torres reached on an infield single.

Anthony Rizzo bounced into a 3-6-3 double play, but Stanton, who finished with three RBIs in the game, delivered a two-out single to left to plate McKinney.

The Royals drew even in the third, when Nick Pratto crushed Cole’s 2-2 off-speed offering into the right-field seats for a leadoff homer.

The Yankees quickly restored the lead, however, in the bottom of the inning on Torres’ sacrifice fly after Anthony Volpe had doubled and stolen third.

Cole nearly escaped a first-and-third situation with none out in the fifth inning.

He struck out two batters before Maikel Garcia ripped a single up the middle to tie the score at 2-2.

In the sixth inning, the Yankees also had runners on the corners with one down, on singles by McKinney and Rizzo, but Singer fanned Stanton on a 3-2 sinker before Franchy Cordero skied to center for the third out.

Cole reached 99 pitches by recording one more out in the seventh before Boone turned to lefty Wandy Peralta to finish the inning.

After LeMahieu homered to reclaim the lead, Stanton brought home two huge runs against righty Dylan Coleman in the eighth with his 13th homer of the season, and his sixth in his past 10 appearances.

“We know what he’s capable of when he really locks it in, and it’s good to see. I feel like he’s moving in that direction the last couple of weeks,” Boone said of Stanton. “I don’t even feel like it’s like when G really locks it in, and then it’s ‘buckle up.’ He’s getting there, and obviously a big insurance one today.”