A Google search revealed that it is a common problem with Nissans in general, not just Pathfinders.
When I told the service advisor about the issue he asked me if it was happening all the time. I knew at that point that it is a problem and one they do not really like to work on.

So, how bad is air in the cooling system? Coolant levels appear OK.
Do I let the dealer fix it? My concern is that they will make it worse or break something else in the process.