No one with the Nissan Xterra V6 3.3 in the forums has ever report damage (guy in HI was told it did but could not see any issues). I had a belt strip off a load of teeth an no interference.

That said, don't wait to find out!
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2004 Xterra RWD 3.3L
2001 Xterra SE 4x4 RIP(2012) murdered
Owner of Xterra 19-years.