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Root and Flash Custom ROM on Motorola Milestone running Android 2.1

[Update] Please refer to Motorola Milestone Official Android 2.2 (Froyo) upgrade for updating your Motorola Milestone. Recently, I have purchased Motorola Milestone mobile running Android 2.1. It was a nice device, however I was annoyed to see that it was lacking the Android market. Instead there was Motorola's Shop4Apps application ...