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Published 08:41 30 Sept 2015 BST
Updated 10:24 30 Sept 2015 BST
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It was thought that Joseph would miss Saturday’s game after sustaining a pectoral injury in the hosts' opener against Fiji, but the dynamic back has made enough progress to work his way back into the starting XV.
Other changes to the side who were beaten 28-25 by Wales at Twickenham include Ben Morgan returning from a bruised knee to replace Billy Vunipola at No 8 and Joe Launchbury making his first start of the tournament as a replacement for injured Courtney Lawes.
It is understood England are remaining hopeful that Ben Youngs, one of their stand-out performers against the Welsh, will recover from an ankle injury in time for the Aussies. He will be given until Thursday to prove his fitness.Quiz: Name every third place play-off winner in World Cup history
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