Latin America improved poverty and inequity conditions in the past decades. Despite such progress and the adoption of new policies, inclusive development remains a major challenge. To attain inclusive development, it is crucial to advance toward renewed policies that explicitly include transformative innovation and close existing gaps in the innovation–inclusion nexus. Foresight promises to help bridge such gaps, but the practice of literature on addressing this role is scarce. For our analysis, we adopt a three-level conceptual and analytical framework, focusing on (1) the evolution of policies for inclusive development; (2) the evolution of research and innovation policy approaches to inclusive development; and (3) the extent to which foresight has been used in underpinning a more systemic policy approach. Using this framework, we examine the situation of four Latin American countries that adopted different approaches to innovation and inclusive development and discuss the potential of foresight to contribute to policies that effectively address the innovation–inclusion nexus.