South Africa are facing a Wales side who have lost a record 11 consecutive Test matches and left head coach Warren Gatland under pressure.
In contrast the Springboks are looking for an 11th win in 13 games in 2024.
“This is our last match of the season, and we are determined to finish the year on a positive note,” said Erasmus.
“Wales are a proud nation with a world-renowned coach in Warren Gatland, and they’ll do everything to finish their campaign on a high note.
“We’ve experienced first-hand how a run of defeats can galvanise a team, and the fact that they’ll be playing at home with a passionate crowd behind them will inspire them even more.
“We’d love to finish the tour unbeaten, but we are well aware of the fact we’ve had a few close results against them over the years at the Principality Stadium.
“They are a team with everything to gain and nothing to lose, so it would be careless of us to think we just need to pitch up and the result will go in our favour.”
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