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I used to have an old twin size high density foam matress that fit perfectly in the back of my 2000 Frontier. I had a topper on the back of the truck so it was great for when I was traveling. Since the Xterra is jsut a different body on the same frame I would suspect that a twin would probably fit in an X with the back seats down. Twin will be the right size to fit between the wheel wells. If you go with a foam mattress you can always unzip the end of the over cover and trim a little off if it's too long.
 

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I’m going to try my double klymit insulated air mattress with the sheets this spring. I’ve got an 04. I’m an on the go kinda gal in the mountains and need options if I can’t find a tent spot. My mat sleeps amazing on the ground so don’t see why it wouldn’t work in the X 🤷🏻‍♀️
 
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