After owning a first gen Frontier with a VG33ER, I would advise you to stay away from the Xterra. That supercharger makes the already thirsty 3.3L even less efficient. With 235/85s on my Frontier, I would struggle to get 10 mpg in town and 13 mpg on the highway. Add wind and you're in for a short trip. The other effect that the SC adds is the decreased reliability. Knock sensors, already fickle on these engines, go out sooner, and the superchargers are lucky to make it past 100k.
I love the Xterra but I think that a Pathfinder is just as great a choice. It would be nicely comparable to your old Jeep, it's very comfortable, and it's got a decent amount of aftermarket support. Well, you've seen what stioc and Weekender41 have done with their vehicles. Plus I think they look very stylish. Nicely in your price range too. That's the great thing about Nissans. If you're buying, then the resale value is a great thing. You just get much more bang for your buck vs. a Toyota, as well as something with lower mileage.