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If your Tesla was manufactured after August of 2017 then you are very likely have the hardware needed to use Dashcam and SentryMode using a TeslaCam USB drive.
The key component that is required for TeslaCam is Autopilot Hardware 2.5 or later (HW 2.5 or HW3/Full Self Driving Computer).
You can determine your Autopilot computer by:
The images below represent AP 2.5 and Full Self Driving Computer configurations, both of which work with TeslaCam.