The Chiefs crashed to defeat against London Irish on Tuesday but Baxter has been pleased with the way his players have recovered despite the hectic scheduling.
"In the end, we didn't have to make too many changes," said Baxter.
"At the moment, we have a fair amount of strength in depth within the squad and Tuesday wasn't the most physical game of Premiership rugby we've ever played.
"There was a fair amount of movement and kicking and it wasn't a real, brutal forwards battle. It's meant we have had the opportunity to rotate a few of the guys, but overall we're pleased with how the boys have come through Tuesday."
Brett Sturgess, Neil Clark and former Quins prop John Andress will form a new-look front row for the clash, while Aly Muldowney starts in the second row.
In the backs, Baxter has made just the one change with Jason Shoemark recalled in the centres.
Harlequins, still smarting from a first Premiership of the season against Saracens, have been rocked by the loss of Nick Evans, Nick Easter and Mo Fa'asavalu for the trip to the Chiefs.
Evans, who has been in sparkling form at fly-half, is set to miss the next couple of matches with a minor injury, while Easter and Fa'asavalu are struggling with knocks they picked up in the 19-11 defeat to Sarries.
As a result, Rory Clegg is handed the number 10 jersey, while Tom Guest and Luke Wallace are added to the back row.
There are two further changes to the starting XV with Tom Williams named on the wing in place of Seb Stegmann, and hooker Joe Gray rotating with the benched Chris Brooker.
Skipper Chris Robshaw moves from openside to blindside flanker and prop Tim Fairbrother also features.
The bench sees Chris Brooker, Mark Lambert and James Johnston as front-row cover.
Pete Browne and Chris York will cover the back five of the scrum, continuing their return to full fitness. Richard Bolt covers Danny Care at scrum-half, and Ben Urdapilleta and Sam Smith cover the remainder of the backs.
Despite Quins' unbeaten league record ending, Exeter head coach Baxter knows his players can expect a stern examination at a sold-out Sandy Park.
"They (Quins) have found a formula that wins games," Baxter said.
"They haven't just had an easy time of it, they've come through tough games and tough final quarters when they have been behind.
"They've got that skill of finding a way to win games. Going down to Toulouse and winning in the Heineken Cup, it takes a special team to do that, a team that has got something about them."
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