Okay, this is a lawsuit in a making. I dare somebody to take their stock (as in 100% stock, no sliders or upgrade tires) X to a class 5 trail and then report the outcome to Nissan. If anything, this is false advertisement.
I love my X, but the fact that I can scratch the interior with a flip-flop and the diff issues that several people have reported so far makes me think several times before saying that my Xterra is Off-Road model.
As for the comparison, Liberty is probably the best target. FJ is a two door

4Runner is more luxury. Escape... Well, I do not know what it is. Hummer is nice, but even the least expensive H2 is pretty price compared to the X. When I think of an SUV, I picture an Xterra along with older Discoveries, Wranglers, old Land Cruisers, etc.