Subject to Aviva Premiership placings, Baxter will link up with Red Rose head coach Lancaster and attacking skills coach Mike Catt to prepare for the match against the Barbarians at Twickenham on 26 May.
Sarries coach Gustard will be available once Saracens’ Premiership and Heineken Cup involvement has ended, and Lancaster admitted he was thrilled to add two “quality” coaches to the Red Rose ranks.
“We are delighted to have two quality coaches who have come through the English system for what will be a hugely significant tour for us and a big thank-you should go to Saracens, Exeter and Premiership rugby for supporting England in this way,” said Lancaster.
“It was important that we found two coaches who could mirror the skill set of Graham [Rowntree] and Andy [Farrell] while they are away [with the British & Irish Lions] and come in and keep developing the players within our system.
“Paul, having worked together with Andy at Saracens, already has a good understanding of how we operate and Rob, who has done a great job in developing a very competitive Exeter pack, will pick up the set piece and breakdown.
“Both will work alongside Mike Catt as part of our integrated coaching team and we are looking forward to them joining us after their club commitments finish on what is an important tour in our development as a team.”
Lancaster is set to be without England duo Farrell and Rowntree, who were selected as part of Warren Gatland’s British and Irish Lions coaching team for the tour of Australia.
And Baxter, who oversaw Exeter’s first-ever campaign in the Heineken Cup earlier this season, admitted he is relishing the opportunity to work with Lancaster in the England set-up.
“Obviously I am delighted to have been asked to be part of Stuart’s coaching team,” Baxter added.
“I see it as a fantastic opportunity for me to do what we keep saying to the players here at the club, which is to keep learning; keep doing better and experience new things.
“This is a great chance for me to experience something different, learn from other coaches such as Stuart, Mike Catt and Paul [Gustard] and work with some different players.”