It's got IFS but solid rear axle. I think the old school thinking is that unibody and IFS/IRS are a bad thing. I always point to the Jeep Cherokees, they're unibody and look at the military Humvees- IFS/IRS. The Ridgeline I used to have would follow a 4Runner anywhere with less drama because the IRS gave it more traction. Now where it was limited was when you needed severe articulation but then I'm not into rock crawling- sorry I digress.
Back to the Pathfinder...I wish it had good ground clearance- in the stock form it's only 8.3". It needs another 2" or so for my taste. The undercarriage is decently protected from the factory and things are mostly tucked up out of the way in comparison with a Honda Pilot type of an SUV.