The retired 31-time MotoGP race winner stepped away from full-time racing at the end of 2018 but has made sporadic wildcard outings since joining KTM as a test rider.
Pedrosa raced at the Spanish GP and San Marino GP in 2023, finishing fourth in the latter and seventh in the former in front of a rapturous home crowd.
KTM noted at the start of the season that everything was in place for Pedrosa to wildcard at Jerez again but was waiting for the rider's green light.
Speaking on Thursday ahead of this weekend's Spanish GP, Pedrosa says it wasn't something he was expecting to do but "things got a little bit interesting in testing" and prompted a change of plan.
"I'm here at this great GP and looking forward to starting tomorrow," the three-time MotoGP championship runner-up said.
"I didn't expect, honestly, to do this one again after last year. But things got a little bit interesting in the testing, so that's why we chose to do it once more."
Asked if the "interesting" element was his speed, Pedrosa replied: "Well, the speed is hard to judge when you race alone in testing.
"But we have some items to try, and they are items that are important to try in a more, let's say, stressful way in order to see what can come out and if we can deal OK with it, because normally in the tests you have all day long to set up things and to modify the bike.
Source: Autosport