Jennings has been named 18th player for Friday night's clash with South Sydney, which will take place some 1266 days after he last played an NRL game in October 2020.
The 18-time NSW State of Origin representative received a three-year ban from the NRL after returning a positive drug test during Parramatta's 2020 finals tilt.
Jennings pleaded guilty in 2021 to cut his suspension down from four years but maintained he did not intentionally take the banned performance-enhancing substances Ligandrol and Ibutamoren.
In the years since, Jennings has found himself entangled in a legal battle with his ex-wife, who accused the NRL player of raping her multiple times during their marriage.
As of November 2023, Jennings had yet to pay his victim the nearly $500,000 ordered at the conclusion of the civil dispute in the NSW District Court.
But the Roosters threw Jennings an NRL lifeline during the most recent off-season, luring their 2013 premiership winner back to the club on a train-and-trial deal.
Robinson said the veteran centre was out for redemption.
"There's a desire to re-write his story," Robinson said.
"There was a carrot there to get his life and career back on track and that was himself but also through the Roosters.
"I didn't feel like he was done, he didn't feel like he was done but he's had to work for it.
"That's come with high-quality training and then some really good performances in reserve grade."
Jennings, 35, began the season turning out for the Roosters' NSW Cup side but will sit on the first-grade bench this Friday.
He can only be activated as 18th player in the event of multiple concussions or one caused by an act of foul play that results in a sin-binning or sending-off.
But Robinson says Jennings is every chance to play first grade at some point this year, with James Tedesco's likely State of Origin berth set to force a back-line reshuffle midway through the season.
The 300-game milestone is within reach for Jennings, who has played 298 games across stints at Penrith, the Roosters and Parramatta.
"Definitely (he could play NRL this year). That's what he's here for," Robinson said.
"We know we've got that (depth) but we like to think some of them might be missing at different times as well throughout the year.
"That would be ideal and the man can play footy still. That'll be about getting him into a position and we want to get him towards 300 games.
"He's been a Rooster, he's done some things on the field that we need to thank him for. It's time to finish his career in the right way and re-write it as it should've been."
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