The 32-year-old flyhalf last played for Australia at the 2019 World Cup, then walked away from Rugby Australia to take his career to Japan.
He led the Kubota Spears to the League One semi-finals this year, and is now back on deck to represent his country in the green and gold.
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Foley has been named in a 35-man squad for the series against South Africa, which kicks off in Adelaide on August 27.
He is one of a large number of additions to the list that got beaten by Argentina on Sunday.
The Wallabies welcome back Andrew Kellaway, Angus Bell, Scott Sio, Allan Alaalatoa, Hunter Paisami, and David Porecki, who have all been out with injury and personal reasons.
NSW Waratahs backrower Langi Gleeson has also been named in the squad for the first time. He and Reds fullback Jock Campbell will both be hoping to make their Wallabies debuts against the Springboks.
Watch every match of the Rugby Championship on the home of rugby, Stan Sport. Continues August 27 with Wallabies vs Springboks and All Blacks vs Pumas. All matches streaming ad-free, live and on demand
“After a tough two weeks in Argentina we’re extremely pleased to be able to welcome a few men back into the mob,” coach Dave Rennie said.
“To have their experience on deck will be invaluable in what’s going to be a massive challenge coming up against South Africa two weeks in a row.
“We know that respect is earned daily and we’ll be doing everything we can to ensure we put in performances that are worthy of that respect in Adelaide and Sydney.”
The squad will assembled on the Gold Coast on Sunday.
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Allan Alaalatoa (28, Brumbies, 56 Tests)
Rory Arnold (32, TBC, 30 Tests)
Angus Bell (21, NSW Waratahs, 19 Tests)
Jock Campbell (27, Queensland Reds, uncapped)
Pone Fa’amausili (25, Melbourne Rebels, 1 Test)
Folau Fainga’a (27, Brumbies, 29 Tests)
Lalakai Foketi (27, NSW Waratahs, 2 Tests)
Bernard Foley (32, Kubota Spears, 71 Tests)
Nick Frost (22, Brumbies, 4 Tests)
Langi Gleeson (21, NSW Waratahs, uncapped)
Jake Gordon (29, NSW Waratahs, 13 Tests)
Reece Hodge (27, Melbourne Rebels, 57 Tests)
Jed Holloway (29, NSW Waratahs, 2 Tests)
Len Ikitau (23, Brumbies, 17 Tests)
Andrew Kellaway (26, Melbourne Rebels, 14 Tests)
Marika Koroibete (30, Saitama Wild Knights, 47 Tests)
Rob Leota (25, Melbourne Rebels, 10 Tests)
Noah Lolesio (22, Brumbies, 12 Tests)
Lachlan Lonergan (22, Brumbies, 6 Tests)
Tate McDermott (23, Queensland Reds, 17 Tests)
Fraser McReight (23, Queensland Reds, 4 Tests)
Hunter Paisami (24, Queensland Reds, 18 Tests)
Jordan Petaia (22, Queensland Reds, 20 Tests)
Matt Philip (28, Melbourne Rebels, 24 Tests)
David Porecki (29, NSW Waratahs, 3 Tests)
Pete Samu (30, Brumbies, 24 Tests)
Scott Sio (30, Brumbies, 71 Tests)
James Slipper (33, Brumbies, 119 Tests)
Darcy Swain (25, Brumbies, 13 Tests)
Taniela Tupou (26, Queensland Reds, 42 Tests)
Rob Valetini (23, Brumbies, 23 Tests)
Suliasi Vunivalu (26, Queensland Reds, 1 Test)
Nic White (32, Brumbies, 52 Tests)
Harry Wilson (22, Queensland Reds, 11 Tests)
Tom Wright (25, Brumbies, 14 Tests)
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