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Yes, Windows XP does include the AutoUpdate client. You probably only need to configure the AutoUpdate client settings on the Windows XP computer. Take a look at the this page for a list of the registry settings you need to modify.
Note that if you are running Active Directory, you'll need to import a group policy and modify the policy so that the computers receive the updated settings automatically. See the SUS Deployment Guide whitepaper for complete information:
http://www.microsoft.com/windowsserversystem/sus/susdeployment.mspx
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