Bafana Bafana will contest their second Group E tie at Moses Mabhida Stadium on September 8.
Libya top the pool on goal difference, having started their campaign with a 5-1 rout of Seychelles, while Bafana beat Nigeria 2-0 in Uyo in June 2017.
The memorable victory over the Super Eagles was Baxter's first assignment on his return to the national team hotseat following the acrimonious exit of Ephraim 'Shakes' Mashaba.
The squad will assemble on Sunday, September 2 and leave for Durban the next day.
Baxter's men, who will prepare at Princess Magogo Stadium in KwaMashu, will not play another match during the FIFA international break.
Goalkeepers: Itumeleng Khune (Chiefs), Ronwen Williams (SS Utd), Darren Keet (Wits).
Defenders: Ramahlwe Mphahlele (Chiefs), Motjeka Madisha (Sundowns), Siyanda Xulu (Maritzburg), Innocent Maela (Pirates), Thulani Hlatshwayo, Sifiso Hlanti, Buhle Mkhwanazi (Wits).
Midfielders: Dean Furman, Teboho Mokoena (SS Utd), Siphesihle Ndlovu (Maritzburg), Hlompho Kekana, Sibusiso Vilakazi (Sundowns), Bongani Zungu (Amiens, France), Kamohelo Mokotjo (Brentford, England).
Strikers: Themba Zwane (Sundowns), Keagan Dolly (Montpellier, France), Percy Tau (Royal Union, Belgium), Lebo Mothiba (Lille, France), Bradley Grobler (SS Utd).