Agreed with those suggesting to go some route other than 35's. In my work truck I can go the vast majority of places people with budget-big tires can with nothing but some aggressive stock-size all-terrains and armor.
If you actually want to crawl invest in armor and fix your suspension to maximize down travel before doing anything else.
Rancho quicklifts have the exact same travel as stock struts. Save the money you were going to spend on tires & invest in order in armor, UCA's, longer travel struts or coilovers (which can be combined with a spacer to give more lift without hurting down-travel, though it will eat into your compression travel slightly), a rear locker if you don't already have one, and 4.10 or larger gears.
This is one of the best explanations of travel on this site and should be required reading before doing a lift:
Prerunnergreg wheel travel explanation
This link shows your current wheel travel with ranchos vs some other struts:
Strut length and travel
To break it down what these posts say is the Xterra has severely limited travel before coil bucket contact with stock UCA's (5.6"). You can go up to 7.4" travel (before ball joints & cv's start binding) with aftermarket UCA's and an appropriate (longer stroke) shock. This increases your wheel travel by 1.8" or 32% from stock.
We can't get more wheel travel (articulation, what real rock crawlers want) out of our trucks without changing the cv and ball joint angles so they don't bind. This why people Titan swap (TS).
A TS will give up to 10.4" of usable travel by Greg's numbers. That is 4.8" or 85.7% more than stock. While Greg admits in the post most lift combos will not yield quite that much travel you are still probably at or slightly above 10."
If you do a full TS with a M205 diff, re-gear, front locker (throw in onboard air while you are at it), and the other odds and ends AlbatrossCafe mentioned, you will have a true rock crawler that has been appropriately re-engineered to capably run 35" tires.
This isn't cheap though $$$$$$.
You can totally just body lift and trim what you have right now & throw big rubber on, just understand a Versa will leave you for dead from a stop light, your gas mileage will suck, you are putting significant additional wear on the drivetrain, steering, & cooling systems; when you actually off road the lack of power, wheel contact, & traction will necessitate using lots of right pedal & momentum to get over & through obstacles and when a shock load inevitably combines with the increased leverage forces offered by the large tires you will break things that are incredibly annoying to fix on a trail.
Hopefully this helps the OP make an informed decision. In case anyone can't tell I am not a fan of changing anything on a vehicle unless it has a purpose, fixes an issue, or improves it in some way.
I would argue 33" tires do those things given the OP's purpose while creating (significantly) less problems, and are the (much) better choice...
