There is no special steering mode that i know of. Some cars will increase power steering pressure at low speeds and then lower it at hwy speeds for road feel feedback.
Xterras, in general, handle well for a 4 door suv, but the turn in, while good on the corners, is twitchy feeling on the highway. Sometimes I think it has some bumpsteer over rough roads. It seems to be noticeable when I drive something else for a couple of weeks and then get back into my Xterra. It's a tall 4x4 and still handles better than an explorer, even if it doesn't drive as well on the straightaways.