Hilary Duff reunited onstage with her ex-boyfriend, Joel Madden, for a surprise performance at her sold-out “The Lucky Me” World Tour stop in New York City — two decades after they broke up. The “So Yesterday” songstress sent fans into a frenzy after she changed into a Good Charlotte T-shirt midway through her performance at Madison Square Garden Wednesday night right before bringing out her special guests. “New York, you know I would never come here and not have a surprise for you,” she told the audience, as they erupted in cheers. “I brought two of my dearest friends to New York City tonight,” Duff, 38, continued. “Talk about some day…