The 37-year-old, who represented Ireland and Munster as a full-back during his playing days, first linked up with the Springboks ahead of the 2019 Rugby World Cup, coming into the coaching staff after Swys de Bruin's departure.
He would remain with the Boks, helping the side win back-to-back Rugby World Cups and a British & Irish Lions series, before deciding to join Steve Borthwick's England coaching set-up after the 2023 global tournament.
However, his stint with the Red Rose was short-lived as he tendered his resignation after their 2024 tour to New Zealand, and, after being linked with multiple positions, it was revealed that he would be returning to Springboks head coach Rassie Erasmus' backroom staff ahead of the upcoming international season.
After the Boks' successive Rugby World Cup triumphs, their 2025 season in the Test arena will be crucial for their progression as they look to make history by becoming the first team to lift the famous Webb Ellis Cup for an unprecedented third successive time.
"It's great to see how we've evolved as a team from 2019 to 2023, and coming back, you can see that evolution is continuing," said Jones in the Boks' build-up to their upcoming clash with the Barbarians in Cape Town on Saturday.
"This is one of the great strengths of the team; they don't like to stand still. They are constantly looking to improve. It is one of the most exciting parts of coming back in. I can see the evolution, and that is one of the most thrilling parts.
"We know we need to keep growing and improving, and are working hard to achieve that on the field. It has been a really exciting time to come back and work with coaches I have a strong relationship with.
"And learning a lot about the ways we have evolved."
Jones' new position within the Boks set-up sees him taking up a roving role as he helps in various departments with their preparations ahead of matchdays.
Inevitably, he was asked to draw comparisons between coaching South Africa and England and revealed that although he spoke about the differences between the two nations, he also revealed that there are plenty of similarities.
"The biggest difference with South Africa is the diversity. Players we call on in different parts of the country, different backgrounds and who are playing overseas in different countries.
"We can draw from different sources, if I can call it that and try to get it down to one thing.
"It is a challenge, but also one of the great strengths. When you get it right, it can be quite special."