South Africa's chances of qualifying for the finals in the United States, Canada and Mexico next year were taken out of their hands following the goalless draw with Zimbabwe last time out, as Benin beat Rwanda 1-0.
Broos' side now need to beat Rwanda and hope Nigeria beat Benin in their final game, to secure their World Cup place.
The national team boss said the draw had a big impact on his players but they are fully focused to record a result at the Mbombela Stadium.
"We needed some time after the game on Friday to recover, we didn't expect to lose points against Zimbabwe, though we knew it would be tough," said Broos in the Citizen.
"Already on Saturday afternoon I felt like things were changing in the camp. We had a light training session on Saturday evening and the atmosphere was totally different to 24 hours earlier.
"What I saw yesterday (on Sunday) gives me confidence the players are ready for the game tomorrow. We have to focus only on ourselves.
"We can't change or decide what happens on the other field in Nigeria. If we win, we have to wait and see. But I think all the things we want and have dreamed of can happen tomorrow.
"We are ready to play a good game, ready to win, but we all know that could not be enough. So let's hope on the other side the Gods are with us and we see the result everyone hopes for in Nigeria – that Benin lose the game."
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