Following a community backlash, the state government has decided to build a second bridge over Woronora River at Engadine to separate traffic, but each bridge will have only one lane.
Heathcote MP Lee Evans announced the change on Thursday.
"The original plan was to widen the lanes of the existing bridge, but I am thrilled to announce we are building a new bridge," Mr Evans said.
"This new bridge will be located on the upstream side of the existing bridge and will provide one lane for westbound traffic while the existing bridge will be modified to provide one lane for eastbound traffic.
"The changed design improves safety by providing wider travel lanes, road shoulders and a central concrete median barrier while also ensuring the preservation of the historic original 1940s-era bridge and wildlife corridors.
"This upgrade will improve safety for the 22,000 vehicles that use Heathcote Road every day, including heavy vehicles."
Transport for NSW will partner with Fulton Hogan to deliver the complex project.
Investigation and surveying work is due to start in the coming months, with work on the new bridge to start in the second quarter of 2022.
The widening of the existing bridge was due to start by the end of this year before Transport for NSW pushed the date back to the first half of 2022.