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BEAT pudding mixes and milk in large bowl with whisk 2 min. (Pudding will be thick.) Spread 1-1/2 cups onto bottom of crust.
WHISK peanut butter and 1-1/2 cups COOL WHIP until blended; spread over pudding layer in crust.
ADD remaining COOL WHIP to remaining pudding; stir until blended. Spread over peanut butter layer in crust. Refrigerate 3 hours or until firm.