Both venues, in Johannesburg and Cape Town, have been sold out for months for the two Tests, which are likely to decide the Championship this year.
South Africa has been boosted by the return from injury of Steven Kitshoff (knee), Jaden Hendrikse (shoulder) and Canan Moodie (finger), while World Cup winners Jasper Wiese and Andre Esterhuizen have completed suspensions.
Erasmus said, "They are all World Cup winners who have delivered quality performances consistently against the top teams in the world, so they'll bring experience and their unique skill sets to this squad.
Nicolaas Janse van Rensburg was the surprise addition; he played his single Test in 2021.
Erasmus said that van Rensburg has a chance with Franco Mostert, Lood de Jager, and Jean Kleyn still injured.
"As a team, we are in a good position in terms of squad depth with 32 of the 33 players on tour playing against the Wallabies [RG Snyman's foot niggle prevented him playing], and we have full faith in the young players to showcase their talent against a completely different opponent in New Zealand.
"Adding to that, all these players, with the exception of Nicolaas, were members of our training squad in Pretoria in July and our alignment camps earlier in the year, and they've been regular members of the squad in the last few years, so they understand our systems and should slot in with ease.
"Nicolaas has had a good season with Montpellier and is a capped Springbok, so we are excited to welcome him back into the fold."
Snyman is expected to recover from his foot injury and be considered against the All Blacks.
Erasmus said, "We are also excited to see what some of the young players can do in these two Tests if they get a run after making a strong impression on the coaches so far this season.
"They are aware this will be a new challenge in intense matches between two of the biggest rivals in world rugby, but the experience they gained facing Australia in two tough Tests overseas – one of which was in extreme weather conditions – will set them in good stead going into this series."
The Springbok squad is:
Props: Thomas du Toit (Bath), Steven Kitshoff (Stormers), Vincent Koch (Sharks), Frans Malherbe (Stormers), Ox Nche (Sharks), Gerhard Steenekamp, Jan-Hendrik Wessels (both Bulls).
Hookers: Malcolm Marx (Kubota Spears), Bongi Mbonambi (Sharks).
Locks: Eben Etzebeth (Sharks), Salmaan Moerat (Stormers), Ruan Nortje (Bulls), RG Snyman (Leinster), Nicolaas Janse van Rensburg (Montpellier).
Loose forwards: Ben-Jason Dixon (Stormers), Pieter-Steph du Toit (Toyota Verblitz), Siya Kolisi (captain, Racing 92), Elrigh Louw (Bulls), Kwagga Smith (Shizuoka Blue Revs), Marco van Staden (Bulls), Jasper Wiese (Leicester Tigers).
Scrumhalves: Jaden Hendrikse (Sharks), Cobus Reinach (Montpellier), Grant Williams (Sharks).
Flyhalves: Sacha Feinberg-Mngomezulu, Manie Libbok (both Stormers), Handre Pollard (Leicester Tigers).
Centres: Lukhanyo Am (Sharks), Damian de Allende (Wild Knights), Andre Esterhuizen (Sharks), Jesse Kriel (Canon Eagles).
Outside backs: Kurt-Lee Arendse (Bulls), Aphelele Fassi (Sharks), Cheslin Kolbe (Suntory Sungoliath), Willie le Roux (Bulls), Makazole Mapimpi (Sharks), Canan Moodie (Bulls).