Yep, that's what I have and it is extremely functional. To go further, IMHO the Xterra Offroad (renamed the Pro4X) is probably the most offroad capable SUV package there is out of the box, at least in North America.
One thing I have found though is not quite enough for me with the OEM setup comes into play moreso on extended offroad outings when carrying more gear than might be typical for a quick weekend trip.
The rear suspension just flat doesn't have enough compression headroom left in it when you load a bunch of gear in so the truck ends up banging the rear bump stops way too often. Being a cheapskate, I have squeezed every last mile of service life out of the OEM shocks and am finally going to fix this. A number of ways to do this and several have been mentioned already.
What I am doing is putting a long leaf add-a-leaf pack in the rear with new Bilsteins then for the front am putting in new adjustable Bilsteins using the OEM front springs. This will give a bit of lift front and rear, stiffen the front suspension some and give better load carrying capability for the rear.
Pretty good chance that you will end up folding down one or both sides of the rear seats to get the cargo volume you need since there will be both you and your spouse's gear. No big deal on this unless you want to haul one or more folks in the back seat. Otherwise, you could go vertical and install a basket on the OEM roof rack to free up interior room.
Folks are right that Nissan aftermarket support has fewer choices than Jeep and Toyota in particular. However, there are excellent providers for most anything you would need. In particular, I like Automotive Customizers, PRG Products, Shrockworks and ARB as these folks are manufacturers and not soley distributers for someone else's gear.
