Basically most of it will come down to tires, Long Trails or the like will be a problem on many of the dusty loose trails and may suffer sidewall cuts on sharp rocks.

The "requirements" will be more equipment oriented, as in carrying equipment to fix anything you break to keep the group moving.

A lift and big tires will be highly recommended, but not an absolute requirement. Stock height trucks can expect a lot of dragging and damage to all 4 corners of the Xterra.