It will first time the Proteas take on Australia in Test cricket since that infamous series in 2018 in South Africa.
David Warner and Steve Smith were accused of being the masterminds behind the ball-tampering scandal at Newlands and the issue was reopened after former captains Faf du Plessis and Tim Paine both wrote accusatory chapters on their opponents.
Elgar though know Smith and Warner remain brilliant players and played down any animosity between the current players when speaking to reporters in Brisbane.
"It was a tough time for all of us [in 2018], even though we weren't the guys who bore the brunt of the scrutiny. Nonetheless, we were part of that and it was obviously a sad event," Elgar said.
"I personally don't hold any animosity towards the players that were involved or Australian cricket in general. The scenes were unfortunate, but that period has elapsed and we've moved forward as a group.
"I wish things could've been different, the history is so rich when it comes to Tests. The competitive nature is distinct, we both want to go out and win games of cricket our country.
"I'm pretty sure on the field there will always be a bit of spice. The competition has always been rich and we have a deep respect for Australian cricket. Hopefully it's a good spectacle."
In what could be a huge twist, Smith could be reappointed as captain ahead of the first Test that starts at the Gabba on 17 December.
Home skipper Pat Cummins is nursing a thigh strain picked up in the first Test against the West Indies last week and and is a doubtful starter.
Elgar continued: "That's their issue to deal with. I only heard this morning Pat has a niggle. We can't control their stuff, I can only focus on in-house stuff. The game I'm sure will be played in a certain way that respects Test cricket.
"There's definitely not any bad blood between us. What's in the past is in the past. I don't hold any grudges whatsoever. Both Smith and Warner have played against [us] for a decade."