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The era of Gravitational-Wave (GW) astronomy will grant the detection of the astrophysical GW background from unresolved mergers of binary black holes, and the prospect of probing the presence of primordial GW backgrounds. In particular, the low-frequency tail of the GW spectrum for causally-generated primordial signals (like a phase transition) offers an excellent opportunity to measure unambiguously cosmological parameters as the equation of state of the universe, or free-streaming particles at epochs well before recombination. We discuss whether this programme is jeopardised by the uncertainties on the astrophysical GW foregrounds that coexist with a primordial background. We detail the motivated assumptions under which the astrophysical foregrounds can be assumed to be known in shape, and only uncertain in their normalisation. In this case, the sensitivity to a primordial signal can be computed by a simple and numerically agile procedure, where the optimal filter function subtracts the components of the astrophysical foreground that are close in spectral shape to the signal. We show that the degradation of the sensitivity to the signal in presence of astrophysical foregrounds is limited to a factor of a few, and only around the frequencies where the signal is closer to the foregrounds. Our results highlight the importance of modelling the contributions of eccentric or intermediate-mass black hole binaries to the GW background, to consolidate the prospects to perform precision cosmology with primordial GW backgrounds.