Is there any language that differentiates between an inclusive "we" (you and I) and an exclusive "we" (third parties and I)?

This would avoid conversations like:
Where do we have to go?
"We" are not going anywhere. I'm going to stay here and watch my movie while you and your brother go to the store to buy food for tonight.
I know. But what store should we go to?
etc.

Or, maybe better, is there an archaic or slang modern expression in English with the same function (akin to "y'all" as a 2nd person plural).