Required? ...Ummm..Maybe, remove step rails & mud flaps? I'm sure AT tires would be helpful since the ground is likely to be wet by rain...at least some spots.

I have never been to the trail. I can only guess from its difficulty rating of 6 that stock xterra would be able to handle it with careful driving.

Oh, and typical recovery equipments would be good, such as straps, shackles, etc.