Costa Rica, who also have a warm-up game against Japan in Tampa on June 2, are England's final Group D opponents in Group D, with the teams meeting in Belo Horizonte on June 24.
Roy Hodgson's side kick off their campaign against Italy on June 14 before facing Uruguay on June 19.
Italy are also scheduled to play a friendly against Martin O'Neill's side at Fulham's Craven Cottage on May 31.
Ireland, meanwhile, have also confirmed a summer friendly against Portugal on June 10 in New Jersey.
The fixtures complete a summer schedule for Ireland which also includes a game against Turkey in Dublin on May 25.