the cherokees and libertys are good comparisons.

the explorers however, if you're talking about the full size, is in a completely different price range, has independant rear suspension is more of a family van than suv anymore.

the liberty and cherokee both have independant front suspension, with a live rear axle. same as the xterra. i believe the jeeps have a lower crawl ratio.

but stock to stock, excluding pretty specific situations, you will be able to hang with any liberty or cherokee. also nissans are more reliable. if the suvs you listed are your only choices, then the xterra is an easy choice.