I will be the devil here. I have a very good buddy who I have known for over a decade and he is apart of my solid group of friends that wheel and work on cars.
He has a Xterra and it rocks off road. It has a solid axle front swap and other off road goodies (like a rear and front locker).
That truck ROCKS off road.
I know this is a 4runner forum, but in all honesty, I think the Xterra edged out the runner in stock off road. Only talking stock. Once you start doing upgrades, it is totally vehicle dependent.
The Xterra is a bit higher and shorter, but with a very stable footprint. There have been several times when it edged out on turning in tight areas.
I am, of course, pro 4runner. But, the Xterra is a dang capable vehicle.
Also, he is heavily involved on Nissan forums. I think as 4runner owners, we just are not clued into them; but from my experience... the off road support and 3rd party add on support is just as good.