Venter last represented the Springboks against England in 2004 and has been playing lock in recent times for his province, the Sharks.
Wannenburg was a late inclusion in the South Africa squad for last weekend's clash with the All Blacks and takes Tyibilika's place, with the latter not even being able to command a place on the bench at the moment.
Tighthead prop BJ Botha comes in for the injured CJ Van der Linde while Andre Pretorius returns to the fly-half position in the place of Butch James.
The final change is Wynand Olivier, who takes Fourie's place at outside centre.
South Africa: Jaque Fourie; Akona Ndungane, Wynand Olivier, Jean de Villiers, Bryan Habana; Andre Pretorius, Fourie du Preez; Os du Randt, John Smit (capt), BJ Botha, Johann Muller, Victor Matfield, Pedrie Wannenburg, Pierre Spies, AJ Venter.
Replacements: Chiliboy Ralepelle, Lawrence Sephaka, Albert van den Berg, Jacques Cronje, Ruan Pienaar, Butch James, Breyton Paulse.