the xterra has weak stock tie rods too, not just the h2,,,think about the tremendous amount of stress put on any steering system when fully articulated and turning a wheel when its stuck in a rut...of course they're going to break...the stock xterra rails hinder the vehicle too...

bottom line, to off road any vechicle its going to need to be modified somewhat, even jeeps, x's, and defenders because off roading DOES break parts, not matter how well built the truck is (ie Top Truck Challenge with 4wheeler mag)

parts break when you wheel, trucks need to be modded to suit an individual and they're offroading style etc

as for mall cruising,,, im sure there are just as many Xterra in existence that have NEVER been offroad just like mall crusing H2s...