I had a pretty good look today as well on both the cars and I am pretty convinced with the Xterra, specially its "no-frills all off-road" approach. You can really feel the power and control once you drive it . The off-road version of the car is a good deal with extra lift and special suspensions. And to top it all comes with BFGoodrich + alloy wheels. So as Lee says, its off-road ready, out of box.
Let me know if you know any used Xterra deal or any other comments.
Please please dont change my mind now

Leo