Fron what O can see the 2010 Xterra uses a cover that would be very similar to the pathfier. The pickup points are even in the same locations. I've already talked to a contact at a local dealership and they are going to let me test fit tomorrow to see how close it lines up.
I'll let you know how it goes.
This is the one I'm going to try
This one Nissan Australia sells for the pathfinder and I will try to get the part number information later as well