Jenkins suffered a horror knee injury when the Springboks were again the opposition in Cardiff three years ago and he spent more than 24 months on the sidelines.
But he is back in the Wales squad this autumn and produced a superb performance in his first match with some trademark turnovers and contact area work.
Jenkins also took over as captain at one point in the second half as Wales were eventually edged out 23-18 by a late try from South Africa’s replacement hooker Malcom Marx.
Jenkins revealed he received words of support from Springbok captain Siya Kolisi after the game.
Jenkins said: “Siya is obviously a great guy, isn’t he? He just said ‘It’s great to see you back’. He sent me a jersey from the 2018 game when I got injured.
“Siya was with the Barbarians a couple of weeks later and one of the physios, Wayne Mortimer, spoke to him and he sent his jersey to me. It was obviously a very nice jersey.
“Siya was just saying how happy he was that I was back playing and how much he enjoys playing against me. I’m not sure if that’d a good thing or a bad thing!”
Ellis Jenkins had a fine game for Wales against South Africa in his first Test since 2018
On the weekend’s defeat by South Africa, Jenkins said: “It was disappointing. We were in a position to win the game.
“Once South Africa had their try disallowed, I thought it was a bit of a momentum shift, but they’re a good team coming off the back of a Lions tour and a lot of international rugby together.
“They had a bit too much for us at the end. I thought we were in control for large parts of the game.
“My family, my girlfriend and my best mates were all here and you could see how much it meant to all of them. That’s a part of it people don’t see. It was really nice to have everyone there.
“It would have been nice to have finished it off with a win. I always know that if I get my stuff right, I’m confident in my ability to play at this level.
It would have been nice to have finished it off with a win. I always know that if I get my stuff right, I’m confident in my ability to play at this level
“There are some things I am really not happy about with my performance. There were a couple of cheap penalties which, speaking to Taine Basham after the game, comes with the territory a little bit. Especially in the back-row, playing against two sevens, you have to live on the edge.
“Both of us were maybe too far on the edge at times, but Taine is another player who is a joy to play with and he’s learning fast. He’s taken to it like a duck to water really.
“There is a lot to improve. I’m still physically trying to get back to where I can be which takes a lot of work, but I’m trying to get on the right track to get there.”
Wales’ next autumn game is against Fiji on Sunday at Principality Stadium. Jenkins is keen to be involved again after captaining Wales in the second half of the game with South Africa.
“It’s a role I’m comfortable in. It’s not something where I feel I need to change the way I am,” Jenkins said.
“You get picked for leadership roles and as captain based on your personality and how you are. You get on with it and just try and contribute as much as you can for the team.
“It doesn’t change the way you play the game. There is no point screaming and shouting at people or telling them what to do if your performances aren’t excellent.
“That’s my focus and whatever else comes with it, if I can help the team then I will.”
Ellis Jenkins in action for Wales against South Africa
Jenkins continued: “Any chance you get to play for Wales is a huge honour.
“Jonathan Davies spoke about it in the team run and in the warm-ups. He said ‘Look around and take in what’s going on, particularly after the last 18 months which have been very tough for people. Understand and remember how lucky we are and don’t take it for granted.’
“It probably sounds a bit cliché, but we are very lucky to do what we do. That never gets forgotten.
“Personally, you always try and set yourself long and short-term goals. The World Cup would definitely be there, but there is a lot of time to go before then.
“It’s my first game back in a Welsh shirt, I still have a lot of stuff to work on. For two-and-a-bit years, getting back on to the pitch was my sole focus.
“Since I’ve been back, it’s trying to get back to where I was.
“Getting back and playing is great, but I want to get back and play at a level I think I can play at.
“I’m probably not quite there yet, but I’m willing to work hard to get there and that’s what I want to achieve.”
Personally, you always try and set yourself long and short-term goals. The World Cup would definitely be there, but there is a lot of time to go before then
