One of the 'honorary guests' to one of the NCCX outings had one on his Frontier (yr 2000, I believe). It was from http://rough.roughcountry.com/ . I don't know if it fits the Xterra w/o modification but it just might be another option.

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Cheers!, -John
NCCX http://www.geocities.com/norcal_clubx