I may be wrong but I believe most mufflers will fit underneath the Xterra.
When I had my Flowmaster installed the tech never once asked me what kind of vehicle I had (until the very end when he was filling out paperwork), just how I wanted the exhaust to sound.
Oh, make sure that whoever installs it will custom bend the pipe for you so it doesn't interfere with any other vehicle components.
Good luck!
PS - Call Meineke. They did a good job for me. All in all, only $220 including labor.