I've driven a friend's modified 2000 Xterra through the Rubicon, Deer Valley, Hell's Revenge, Golden Spike, Elephant Hill, Black Bear Pass, and a bunch of other trails and I own a modified 2000 4Runner which I've wheeled for several years.
Making a direct comparison between these two particular trucks is unfair since the XTerra has larger tires (285s), a front locker, and 4:1 transfer case gears. Both trucks are 5speeds.
Here's my comparison (for what it's worth) of the two trucks in stock form.
4Runner
+ Nicer interior. The Xterra feels a little plasticy and utilitarian compared to the 4Runner (SR5).
+ Better engine. The hp difference isn't all that large, but the 3.4l in the 4Runner is happier to rev which is great on hills, especially at altitude. The VG in the Xterra requires quite a lot of downshifting to keep speed. Both engines seem to be very reliable.
+ Coil-over front suspension flexes better than the torsion bars on the Xterra.
+ Linked rear suspension flexes better than the leaf springs in the Xterra. The Xterra's springs tend to get hung up on rocks as do the 4Runner's control arm mounts.
+ The 4Runner's suspension feels better at high speeds on dirt roads.
+ Availability of factory rear locker.
+ Steering components seems to be stronger. Xterras have a habit of bending steering components.
+ Power rear window, because it's fun to roll down and wave at people behind you at stop lights.
Xterra
+ Flat underbelly, especially with aftermarket skidplates installed. This is great offroad. The gas tank on the 4Runner hangs down way too far.
+ Ability to put 4:1 gears in the transfer case for a reasonable price. The 4Runner requires a t/c replacement to change the ratio.
+ Plastic bumper corners that can take a beating.
+ Better roof rack system, the cargo basket over the sunroof is useful.
- Transmission syncros went out at only 90k, but this might be because of heavy trail use.
- Factory running boards have a bad habit of being shoved back into the rear tire when they hit a rock. This is a good reason to remove them.
Either truck can make a nice wheeler, but I think the 4Runner is overall better built, more capable offroad, and nicer to drive on road. But, I would not be disappointed to own an Xterra.
How about some pictures?
Xterra on bald 265s at the bottom of Cadillac Hill on the Rubicon. We went through the Gatekeeper before it was blown up, but of course took the bypass for Little Sluice.
4Runner on the Slickrock Trail.
- Matt