First, check your coolant level to make sure it's not low. You can do so by looking at the plastic expansion (overflow) tank and by opening the radiator cap (when cold) and taking a peek inside the radiator.
Also remove the air bleeder bolt when you remove the radiator cap.
See the bolt that is on the top on the intake manifold in the pic (look towards the lower right near a bunch of hose connections)? It's the small bolt next to the sticker that reads NEVER OPEN WHEN HOT. That is your air bleeder bolt.
If you are low, then add coolant/water mix with both the radiator & the bleeder open. After it's full, close them. Also, make sure the expansion tank is up to the MAX line with coolant/water mix as well.
Run the engine at 2000 RPM for a minute or two. Turn the heater on as well. Shut off. Make sure radiator is cool, then check the coolant level again. Add coolant/water mix if necessary. Run the engine again, heater on, shut off, make sure it's cool, then check again...
I've opened up the cooling system on this car several times, and this is all that was required to get the air out. When I had air in the system, I could actually hear the water flowing into the heater core from inside the car.
Drive it and see how your heat is. If you still don't have much heat, it is most likely the thermostat.
When my thermostat started to go, the engine still warmed up eventually but it took a long time to for the TEMP Gauge needle to reach the middle of the Gauge.
Also, if I went down a long hill, the TEMP gauge would actually go down towards C.
To replace the thermostat, go to this link for instructions.
AutoZone.com | Vehicle Selection - Year
Here is where the thermostat is located.
You can buy thermostats from most auto parts stores or from Nissan.
I bought mine from Nissan and there are two types that were available. 76 C and 82 C. The numbers reference temperature in Celsius.
You want the 82 C thermostat as that what the car has in it from the factory and you'll get more heat.
Even on cold days, my car usually warms up in the first mile or so on the way to work.