Skipper Rohit Motwani narrowly missed his century as he was left stranded on 95 after his team was bowled out for 440 in reply to Andhra's 317.
While Jadhav struck 22 fours and three sixes, Motwani found the fence 13 times during his 123-ball knock at the YS Raja Reddy Stadium.
Paidikalva Vijaykumar returned impressive figures of 6/83 for Andhra.
In their second innings, the hosts were 27 for the loss one wicket at stumps on the third and penultimate day.
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