Yes it is.

What I did was I took it down to Oreilly's and the guy at the counter let me take a bunch of torx screwdrivers outside and see which one fit.

But if your just removing the plastic pads you shouldn't need the smaller one. They just snap on to the bottom of the boot.

And just out of curiosity, why are you removing the contact pads?

Oh and I almost forgot all Xterra's come with a T-30 Torx screwdriver in the back under the cargo area carpet for adjusting the roof rack crossbars.