Juve are seeking to bounce back after last week's defeat to Inter Milan.
Allegri said: "We must try to get back to winning ways tomorrow against a team that in terms of quality and performance does not deserve to be in its current position. Udinese are a physical side with players like Lorenzo Lucca, Florian Thauvin and Lazar Samardzic who provide technique and a good shot on target.
“Look, it is no secret that Inter were the favourites for the Scudetto. We picked up 53 points, we must get back to winning ways tomorrow and break away from fifth place. Inter are doing extraordinary things, I think they won all seven competitive games in 2024. We just have to keep taking it one step at a time."
On their defeat to Inter, Allegri said: “Their win ought to make us even more motivated to get back to -4. You can lose a head-to-head, it happens, and one match should not make us throw away all the good work done in these months. If anything, we learned a great deal from that game.
“I analysed it, that was a balanced encounter, there was a Federico Dimarco chance, the Marcus Thuram goal, but then we wasted the Vlahovic opportunity. It was wide open after the break, we threatened both to score and concede.
“At this moment, the strongest team is at the top of the table. I've said from the start Inter were the favourites and they will be to the end. We just have to focus on our own journey and getting back on track after one point from two games."