Congrats on your new motorhome! You can flat tow a Nissan Xterra of any model year and trim provided that it has a manual transmission. If your Xterra has a manual transmission, just make sure to put the transmission in neutral and release the parking brake before you start the tow.
If you have an automatic transmission, you cannot flat tow the Nissan Xterra, as doing so will damage the transmission. Instead, use a two-wheel dolly for two-wheel-drive versions or a flatbed trailer for four-wheel-drive versions.
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