The Japanese language makes a distinction between singular "you" and plural "you" by adding the suffix "tachi"
(i.e., "you" (singular) = "anata"; "you" (plural) = "anatatachi")
Similarly, Chinese tacks on the suffix "min" to make the singular "you" a plural (i.e., "you" (singular) = "ni"; "you" (plural) = "nimin"
(apologies for romanization)
Back to the original question: "Is there any language that differentiates between an inclusive "we" (you and I) and an exclusive "we" (third parties and I)?"
The Japanese who wanted to indicate "you and I" would say
"watashitachi futari" (the two of us, and no one else).