Have had a 10 xterra stock, 12 frontier crew 4x4 kinda stock, 07 fj cruiser ( not even close to stock), and a 14 xterra pro4x.
The fronty was great, went anywhere, bed too small for bed camping without dropping the gate, but bullet proof and fun to drive
The fj was a blast but impossible to see in incline driving ( that's a big friggin hood). And still couldn't sleep inside it
Both xterras were/are great, come with most of what you need and if you are careful in packing and know what you are doing, you can sleep two comfortably in the back ( I'm 6'3" 190 , missus is 5'7" ) depending on the size of the dog, "maybe " that too.
Made the drive to Colorado 1100 miles in a day, and still was comfortable enough to tackle a bit of rampart range road before the sun went down.
Another vote for the xterra here, drove jeeps too, older ones.
of course like the fj. The xterra is being discontinued, lots of parts cross fit with other models.
Really wanted to try a pathy but the quit making a bof pathy before I was ready to buy.