I have a 93XJ (Cherokee)168,000mi 3"lift etc.,and my X 3"lift etc. After going to Moab with the X, I missed my Jeep,the articulation and approach/departure , gearing are much more suited for the harder trails. However.... I was very impressed with the Xterras abilities off- road ,IFS or not it did great! With the swaybars disconnected it does have fairly good travel.And most of all its comfotable and doesn't ride like sh** like my XJ. All in all my XJ will out perform the X off-road.