Pedrosa, who retired from full-time competition at the end of the 2018 season, contested two wildcards in 2023 as part of his test rider role with KTM.
The first was at the Spanish GP at Jerez, where the 31-time MotoGP race winner finished an impressive sixth in the sprint and seventh in the grand prix.
He returned for the San Marino GP at Misano and went on to finish fourth in both races, narrowly missing a first podium since 2017.
Last month KTM confirmed that it had everything in place for Pedrosa to make a wildcard at Jerez and were waiting for the rider to give his approval.
“I had a lot of fun at Jerez last year and the welcome from the fans was amazing,” said Pedrosa.
“We all know Jerez is a special place. For us it will also be important to use some references for our tests and put it into the race environment again. This is the main reason to compete in 2024.”
KTM has also confirmed the date for Espargaro’s MotoGP return, after he stepped into a test rider role having lost his Tech3 ride to Augusto Fernandez.
Espargaro will contest the Italian GP at the beginning of June, marking his first MotoGP race appearance since last year’s Valencia GP.
Source: Autosport