Firmino will replace the injured Manchester City striker to win his 13th cap in Montevideo, where the Brazilians will be looking for an eighth straight win under Tite to all but book a spot in next year's finals in Russia.
"Firmino has come in well, including scoring goals, and he has justified his selection," the coach told reporters.
Brazil go into the match top of the South American qualifying table with 27 points from 12 games and are confident that if they can avoid defeat in Uruguay, and in Paraguay five days later, they will secure their place in Russia.
A tally of 28 points was enough for the fourth-placed team to qualify the 2010 and 2006 tournaments, the last time all 10 South American nations played the qualifiers.
"Classification being so close makes us anxious," Tite admitted ahead of the top-of-the-table clash.
The match is in many ways a tale of two leaders, with the former Corinthians coach having transformed Brazil's fortunes in a seven-game winning streak since taking over last summer.
Read the full article on eurosport.co.uk: Brazil replace Gabriel Jesus with Firmino for Uruguay clash