The Wallabies will travel to Pretoria for the first time in four years to take on the Springboks in 2020.
South Africa announced its 2020 home test schedule overnight, adding another piece to the puzzle for the Wallabies.
Australia has already confirmed much of its home schedule, set to play the Springboks in Perth in their home clash.
The Wallabies and Springboks last faced off in Pretoria in 2016, an 18-10 win for the home side.
Australia haven't won in South Africa since a 2011 win in Durban, but the teams drew in Bloemfontein in 2017.
Wallabies Fixtures for 2020
July 4 - Australia vs Ireland, Suncorp Stadium
July 11 - Australia vs Ireland, SCG
July 18 - Australia vs Fiji, TBC
The Rugby Championship
August 8 - Australia vs New Zealand, Marvel Stadium, Melbourne
August 15 - New Zealand vs Australia, Westpac Stadium, Wellington
August 29 - Australia vs South Africa, Optus Stadium, Perth
September 5 - Australia vs Argentina, TBC
September 19 - South Africa vs Australia, Loftus Versfeld Stadium, Pretoria
October 17 - Australia vs New Zealand, Suncorp Stadium, Brisbane
November 7 - Ireland vs Australia, Aviva Stadium, Dublin
November 14 - France vs Australia, Stade de France, Paris
November 21 - TBC
November 28 - England vs Australia, Twickenham, London