The SAR will also play Chile in the group phase.
Meanwhile, in Pool B, defending champions South Africa play Italy as well as Georgia and Romania.
Ireland will face familiar foes in Scotland in Pool D, which also features Uruguay and Portugal.
England, who won the World Cup last time it was held in Australia in 2003, were drawn in Pool F along with Wales, Tonga and Zimbabwe.
France, Japan, the United States and Samoa will battle in Pool E, while Argentina will face Fiji, Spain and Canada in Pool C.
The format for the first 24-team World Cup, which will take place in seven cities around Australia from October 1 to November 13, 2027, features six pools of four teams and a new round of 16.
Four third-placed teams from the six groups will progress to the round of 16. (Agencies)