The nations will contest the first leg on Friday, 1 September at the Estadio Nacional Stadium. Kick-off is at 17h30 local time (20h30 SA time).
Baxter's side will host the return duel on Tuesday, 5 September at the Moses Mabhida Stadium in Durban. Kick-off is at 19h00.
South Africa played to a 1-1 draw against Burkina Faso in Ouagadougou in October 2016 and followed it up with a 2-1 win over Senegal in Polokwane in November in their previous WC qualifiers.
A makeshift Bafana will face Zambia in Ndola this Saturday, having drawn 2-2 with Chipolopolo in East London on the weekend in a 2018 CHAN qualifier.