I'd trade the leaf spring rear on the Xterra for the 5-link coil spring rear on the 96-04 Pathfinder in a heartbeat, it's easier to mod and flex. The older 87-95 Pathfinder is the best IFS 4-wheeling platform Nissan has built (barring the 05 models perhaps?) with its short overhangs and 5-link coil rear. Nissan nearly put a coil-sprung solid axle under the 05 Xterra, but obviously stuck with the leaf springs. You can see in this photo from the preview brochure, no leaf springs:

Brent