The Bears head into the penultimate fixture of the season with the table finely poised having produced a run of positive results since returning to red-ball cricket.
Barnard’s side are in third place with two games remaining, just five points off table-topping Somerset and one behind defending champions Nottinghamshire.
The all-rounder believes the squad is in a strong position to attack the final stages of the campaign.
“We’re really excited,” he said. “It’s been a good few weeks for us and there’s two exciting games to go.
“We’re obviously in a good place in the table, but it’s a massive game this week.
“Since we’ve come back to red-ball cricket there’s been a lot of positive results and we’ve played some really good cricket.
“To put in performances but also to come out with the results and to put ourselves in a position to really attack these last two games, has been good.”
Following two comprehensive wins in the last two games, with the last of those coming inside two days, Warwickshire have been able to name an unchanged squad for the trip to Chelmsford.
“It’s huge to be able to have everyone fit, firing and available,” Barnard added.
“We’re having to leave a lot of good players out of the 11 at the minute which isn’t easy but it’s a good place to be if you have that strength in depth.
“We’re very fortunate to have that and it puts us a nice position going into these last two games.”
While the Bears are challenging for the title, Essex are also battling for points as they look to retain their status in Division One after a challenging period since red-ball cricket returned.
Despite that, Barnard is expecting a competitive four days at Chelmsford, with Essex set to provide a significant test on home soil.
“Essex is always a tough game, but it’s one we’re all looking forward to,” he said.
“It’ll be a really tough test. They always get a good crowd here and they’re batting for points as well, so they’re going to be right up for it.
“Hopefully we’re in a position next week to still have a chance at winning the title. To be in with a chance of a title at any point is special.
“We’re not counting our chickens though. There’s a massive four days ahead of us and we’re really looking forward to it.”
Day one gets under way in Essex at 10:30am on Tuesday 15 September with the playing XI set to be announced at the toss.