Munster ended Glasgow's URC hopes at the quarter-final stage last year as they ran out 14-5 winners at Scotstoun. The Irishmen went on to lift the trophy despite all their post-season matches being played away from home.
Warriors won't be under any illusions on the difficulty of the task having already suffered a 40-29 defeat in Limerick this season.
"The main thing for this weekend is trying to get into the final of the URC, that's the motivator," said Darge.
"That quarter-final really was a tough pill to swallow. When you're watching URC semis and finals after getting knocked out in the quarters in a game that you feel like you didn't show your best, it's a tough one to take.
"I think we've learned more lessons. We're not going to shy away from our ambition, but that doesn't mean that we're under any illusions about it's going to take.
"Saturday [quarter-final win over Stormers] was a huge game, but now it's the semi-final, which is an even bigger one against the reigning champions."
Glasgow are bidding to reach the final for the first time since 2019. And Darge says meetings with Munster always come with an extra edge.
"We also beat them over in Thomond [Park] last season in the regular season then they came over here and knocked us out in the quarters.
"I think the style that both teams play, two clubs that are usually there thereabouts come play-off time. It's just competitive nature of it."