Applied pressure drives the heavy-fermion antiferromagnet CeRhIn$_{5}$ towards a quantum critical point that becomes hidden by a dome of unconventional superconductivity. Magnetic fields suppress this superconducting dome, unveiling the quantum phase transition of local character. Here, we show that $5%$ magnetic substitution at the Ce site in CeRhIn$_{5}$, either by Nd or Gd, induces a zero-field magnetic instability inside the superconducting state. This magnetic state not only should have a different ordering vector than the high-field local-moment magnetic state, but it also competes with the latter, suggesting that a spin-density-wave phase is stabilized in zero field by Nd and Gd impurities - similarly to the case of Ce$_{0.95}$Nd$_{0.05}$CoIn$_{5}$. Supported by model calculations, we attribute this spin-density wave instability to a magnetic-impurity driven condensation of the spin excitons that form inside the unconventional superconducting state.
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