Just as he did after the 2018 World Cup in Russia, Milligan contemplated retiring from the national team in the wake of January's Asian Cup quarter-final exit.

After missing the opening World Cup 2022 qualifier against Kuwait due to injury, the 34-year-old made his return to Socceroos colours in Thursday's 5-0 win over Nepal in Canberra.

If Milligan backs up and appears in Tuesday's qualifier against Taiwan in Kaohsiung, it will be his 81st cap and 20th as captain and he'll bypass Luke Wilkshire to become the eighth-most capped Socceroo.

"It's just something I'd been doing for a long time and I had to weigh things up," Milligan told AAP.

"There's more than one part to my life. It was just something I wanted to have a good think about.

"After the World Cup and this time as well Arnie had a big part to play in me wanting to hang around. A lot of discussions we had definitely helped me decide to stay on for a little bit longer.

"That's a good understanding that we have. I don't want to be holding anyone else back but also saying that I need to make sure I'm here for the right reasons for me as well.

"There's a number of things but at the moment it's still a good fit."

Released by Scottish club Hibernian, Milligan landed at English League One club Southend United in July.

Playing in the notoriously gruelling 22-team English lower divisions has proven he can still mix it physically and he credits the move to Roots Hall for re-energising him as well.

"It's been good, it's kept me very fit," he said.

"Proved a lot of things to me that I can still do, that my body can handle and can still cope. Probably the expectation was that I didn't know if I'd be able to or not.

"Just from the physical side of things, it's been good, reassuring."

As to whether Milligan can keep going to a fifth World Cup, the jury is still out.

"It's very much short-term at the moment in terms of the qualification period," he said.

"There's a number of things I feel I can help with this team still and I can still bring, for me on the field was not really the issue. I know what my body's capable of, it was more the expectations that are placed on me outside of that.

"I want to make sure that I could fulfil them."

The Socceroos will train at Kaohsiung's National Stadium on Monday ahead of Tuesday's qualifier, which kicks off at 7.40pm (2240AEDT).