Australia will be locking horns with Japan next month for the first time since 2017 before they kick start their UK tour.
The encounter will be played on 13th October with Showa Denko Dome in Oita Prefecture hosting the game with the Wallabies enjoying a 5-0 head to head record against the Brave Blossoms.
"We're really looking forward to squaring off against Japan. They showed everyone at the World Cup in 2019 that they are a top nation and can match it with the best," Rennie said in a statement.
"Jamie (Joseph) and Tony (Brown) have built a formidable squad that plays a really exciting, up-tempo style.
"We need to continue to test ourselves with this variety of play, so this is an important match for us as we continue to build ahead of the next World Cup in France.
"It's been a really big year already for our squad with some starting back in February for Super Rugby AU so we will have to continue to manage the lads over the next month or two and into the Spring Tour in the UK."
Meanwhile, Japan head coach Jamie Joseph said his side is relishing at the opportunity to face the Wallabies.
“As a team, we’re very much aware of the significance of this match, being almost two years to the day that Japan last played international rugby at home, in our Rugby World Cup quarterfinal,” Joseph said of Japan’s economically successful Rugby World Cup 2019.
“The opportunity to play a test match on home soil, against a team the quality of Australia, is a hugely important moment for us to reconnect with our fans and the wider Japanese public, following the success of the 2019 World Cup.”
Following the game against Japan, Dave Rennie's men will be facing Scotland, England and Wales on 7th, 13th and 20th November respectively.