noticed ur a bit overinflated for sand driving,
try lowering the pressure to around 14 PSI, even down to 12 PSI on the sands. performance will more than double, and ud never get stuck.
for the xterra, with the 17" rims and those look like BFGs ?.. you can go as low as 10 PSI with no issues of popout.
just my 2c
amazing pics btw
