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Yes, incremental extracts were part of Tableau 7.0.
You have to set up the incremental extract option at the point of the initial extract though - i.e. you are connected live, and are now choosing to extract. You can't change an extract to be incremental if it has already been set up to do full extracts. You also need to chose either a date field or an integer field for Tableau to identify which records form part of the increment.