The quasi-one-dimensional chiral charge density wave (CDW) material (TaSe$_4$)$_2$I has been recently predicted to host Kramers-Weyl (KW) fermions which should exist in the vicinity of high symmetry points in the Brillouin zone in chiral materials with strong spin-orbit coupling. However, direct spectroscopic evidence of KW fermions is limited. Here we use helicity-dependent laser-based angle resolved photoemission spectroscopy (ARPES) in conjunction with tight-binding and first-principles calculations to identify KW fermions in (TaSe$_4$)$_2$I. We find that topological and symmetry considerations place distinct constraints on the (pseudo-) spin texture and the observed spectra around a KW node. We further reveal an interplay between the spin texture around the chiral KW node and the onset of CDW order in (TaSe$_4$)$_2$I. Our findings highlight the unique topological nature of (TaSe$_4$)$_2$I and provide a pathway for identifying KW fermions in other chiral materials.
