The Xterra sways at gusts and leans in curves, not surprising given its height and boxy shape. That big vertical rear window provides excellent visibility, but it gathers dust and dirt like crazy. The rear wiper/washer is optional on the XE, but should be considered standard equipment for anyone who drives in anything less than perfect conditions on a dry road.

The Xterra is nimble at slower speeds, feeling lighter than its 4130 pounds. The steering is very nice. At higher speeds there is a slight lag in the steering from the on-center position, but the straight-line ride is very nice.

The suspension takes bumps well; it sometimes has a bit more trouble with dips, which can be felt in the pit of your stomach similar to the feeling from a fast-stopping elevator. The suspension does a great job on washboard gravel roads. In corners, there's less sway than you might expect given the high center of gravity, but the head toss is significant over rutted and potholed dirt roads.

The front suspension is double wishbone; the rear is leaf springs with a solid axle. Power steering is by recirculating ball. The chassis rides on the backs of 10 individually tuned dual-rate rubber chassis mounts, so there's no harshness there at all. At the same time, the ladder chassis from the Frontier is certainly strong. The Xterra rides much better than the Frontier pickup.

Get the optional limited-slip rear differential if you drive off road for the increased traction it provides.

The naturally aspirated 170-horsepower 3.3-liter V6 is challenged to smartly drag the 4WD Xterra's body weight of 4130 pounds.

The 210-horsepower supercharged V6 benefits from an Eaton supercharger designed specifically for Nissan's 3.3-liter V6. Unlike a turbocharger, the supercharger delivers its power the moment the driver pushes on the throttle. It delivers strong torque (246 pounds-feet of torque at 2800 rpm), though it doesn't turn the Xterra into a rocket. Acceleration is accompanied by that supercharger whine, which some people like and others don't. For 2002, Nissan has taken measured to reduce noise from the supercharger: a hood insulator was added, a thicker windshield is used, and a baffle was installed in the front fender well on supercharged models.

We haven't tested an Xterra with the little twin-cam 143-horsepower four-cylinder engine, but guess that it must be downright burdened. Maximum torque of 154 foot-pounds for the four-cylinder engine comes at 4000 rpm versus peak torque of 200 foot-pounds for the V6 at just 2800 rpm-and lower is better for accelerating up steep hills or pulling away from an intersection.

Nissan's four-speed automatic transmission shifts up and down very smoothly, and its electronic calibration avoids hunting on hills-as long as you're not in overdrive.

The four-wheel antilock brakes are big enough, although rear disc brakes would be a welcome upgrade from the rear drum brakes. The drums are understandable, however, because the Xterra is built on the Frontier platform, and the pickup is perfectly fine with rear drums.