Welcome to the real world.
If you want to get paid what it's worth, NEVER "trade-in" your vehicle! Dealers always give you far less on a trade-in than you could make if you sold your vehicle yourself.
Why do you think dealers love you to trade-in your vehicle? They make big bucks when they turn around and sell your Xterra next week for several thousand more.
When you are trading in your vehicle, you are paying for the convenience of being able to drop off one vehicle and drive home in another. That convenience can cost you thousands. Is that convenience really worth that much $$?
Be smart. Sell your vehicle yourself and get a lot more for it.
Dave
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2002 Xterra XE 190K
2012 Frontier S 64K
2007 Toyota Tundra 103K