"It's a chance of redemption and if we win up there it puts us in a good place going into the tour," the 27-year-old told the BBC.
"It's a full-blown test match on Sunday, so we've got to be on the money mentally and physically to get a result."
Wales, who beat England 28-25 in a World Cup pool match at Twickenham last September, will be without captain Sam Warburton, who is nursing an injured shoulder, and France-based Jonathan Davies, Luke Charteris and Exeter's Tomas Francis.
England coach Eddie Jones will not be able to call upon the services of any Saracens or Exeter players in his squad as both teams are involved in Saturday's Premiership final.
News that makes sense
Your trusted source for staying up-to-date with the world around you. Get free daily news updates and analysis, straight to your inbox.
"They are missing a couple of players but there's a lot of strength in depth in England at the moment and the majority of the squad will be there for them at the weekend," Baldwin added.
The first test between Wales and New Zealand is in Auckland on June 11, followed by matches in Wellington and Dunedin.
(Reporting by Nivedita Shankar in Bengaluru; Editing by John O'Brien)
