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Look up PML (poor man's lift).Basically you buy shackles for the rear and crank the torsion bars in the front. Costs around 100 bucks
 

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2000 Xterra XE 4x4 3.3L AT
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What is the reason for the lift? The look? Wheeling?

The great thing about the Xterra and lifting it is the kits are all pretty much modular, in other words you can start off with a PML and build up to a 3" SL and not have to remove parts you already installed. Consider removing the step rails as well as it will make the truck appear to be taller and they are actually a hindrance when wheeling the truck.

Here is a silver Gen 1.5 similar to yours but with 32" tires, a PML, and the steps removed next to my truck with 33" tires, 2" body lift, and a 3" suspension lift.





 
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