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The 32-year-old, who spent the 2023-24 season with Irish province Ulster, did not initially realise the severity of the issue sustained in a Currie Cup match for Western Province against Griquas in September.
He had surgery on the injury last month and faces a long recovery before he can return to playing.
"It was just another scrum, then three cracking noises - pop, pop, pop," Kitshoff told Rapport newspaper.
"I kept playing, thinking it was a pulled muscle. But now I know, I was two millimetres away from catastrophe, from death.
"The first thing the specialist said to me was 'listen, you're lucky we didn't bury you in a week', because the vertebra that shifted is so close to my brain canal."
Kitshoff's most recent Test appearance for South Africa came in the World Cup final against New Zealand last year but he has not given up hope of adding to his 83 international caps.
"Without the operation, I'd never play rugby again," he added.
"If my neck holds up, I'm going for it. If I have to retire, I'll be satisfied but I'm not done yet. I've always been a warrior for my team.
"Rugby's a dangerous sport, but I'll give my all because I'm fighting for my team."
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