The 25-year-old spoke to reporters before departing Sydney on Saturday, saying he wanted to redeem himself to those critical of his inclusion in the squad.
"I feel like I have to show the Australian public what I can do out there. If I can show that through some good performances then hopefully I can repay that faith."
Beale has not played for Australia since the loss to South Africa on September 27 and was initially left out of the spring tour despite avoiding having his ARU contract torn up.
He was fined $45,000 by an independent tribunal for sending a lewd text picture message to team business manager Di Patston but escaped suspension after being found not guilty of sending a second, more offensive text.
Beale was also fined a further $3000 over an in-flight argument with Patston en route to Argentina with the scandal ultimately leading to the resignation of Patston and then-coach Ewen McKenzie.
Should he prove his fitness over the the coming days, Beale could earn a spot on the bench against the Irish, with Australia looking to bounce back from their first defeat under Cheika.