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If you really wanted, you could find a wrecked infiniti QX4 built probably around 98 through 2000 and take its system components. It can be set to 2wd, and 4wd,but also has a selection that for the most part stays in 2wd but will transfer power to wheels that slip when needed.
The QX4 of those years have the same engineas your Xterra so I would think the drive train hardware would bolt up.
Now you have to ask youself is it really worth it.
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4wd systems
Linear Mode
