South Africa centre Andre Esterhuizen said that the Springboks are aiming to have "the two best teams in the world" ahead of their Autumn Nations Series clash against England.

The world champions were pushed all the way by Scotland in their narrow victory at Murrayfield on Sunday, though head coach Rassie Erasmus opted to rotate some key starting positions.

South Africa captain Siya Kolisi and flanker Pieter-Steph du Toit started on the bench, with the changes a common theme during Erasmus' seven-year tenure.

Their opening Autumn Nations Series victory also put them back on top of the world rankings after Ireland's first defeat in 19 home games by New Zealand on Friday.

"One of the good things is that everyone is getting game time now," Esterhuizen told the BBC's Rugby Union Weekly podcast.

"It is also about looking forward, you've got to be able to spare all the guys for the next World Cup and build experience into it.

"The aim is to have the two best teams in the world, all in one squad.

"We want to make it second nature for people slotting in, so if someone steps in, they can just slot in and play the same if not better than the other player."

Four tries without reply as the #Springboks kick off the Castle Lager Outgoing Tour with a big win in Edinburgh #ForeverGreenForeverGold #SCOvRSA pic.twitter.com/fVlU4jpVO1
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South Africa next face England, who are yet to pick up a win this autumn, at Twickenham on Saturday.

Steve Borthwick's side suffered a narrow two-point defeat by New Zealand, before conceding an injury-time winning try to Australia on Saturday.

England have now lost each of their last four Test matches, their longest such run since losing five straight games in 2018, but Esterhuizen's former Harlequins team-mate Marcus Smith has been impressive for the Red Roses.

"It's a great space, I obviously love to play there," Esterhuizen added. "It will be great to be running at Marcus, not run off him.

"It's going to be a great match, England have played well in the last few games, it's unfortunate that it hasn't been the results that they want. I think it's going to be a big one."

The Springboks have won three of their last four matches against England (L1), including each of their last two. Three of the last five games between England and South Africa have been decided by single-point margins.