Latu was sin-binned after coming off the bench in the Wallabies' last two matches against New Zealand and Argentina, but the hooker gets a chance from the off in Cardiff.
Flanker Dempsey and centre Kerevi are promoted by Michael Cheika following their performances as replacements in a 37-20 defeat at the hands of the All Blacks in Yokohama last month.
Israel Folau moves to the wing to accommodate Kerevi, while lock Adam Coleman returns from a groin injury at the Principality Stadium.
Tatafu Polota-Nau, Matt Toomua and Jack Maddocks will start on the bench, with Marika Koroibete missing out on a place in the squad along with Adam Ashley-Cooper.
— Qantas Wallabies (@qantaswallabies) November 8, 2018
Australia: Dane Haylett-Petty, Israel Folau, Samu Kerevi, Kurtley Beale, Sefa Naivalu, Bernard Foley, Will Genia; Scott Sio, Tolu Latu, Allan Alaalatoa, Izack Rodda, Adam Coleman, Jack Dempsey, Michael Hooper (captain), David Pocock.
Replacements: Tatafu Polota-Nau, Sekope Kepu, Taniela Tupou, Rob Simmons, Ned Hanigan, Nick Phipps, Matt Toomua, Jack Maddocks.
Photo Getty Images. Caption: Tolu Latu