Note this applicable to the V6 only. The V8 uses the M205 in front and R230 in the rear.
The front R180A differential from a Frontier with 3.69 gears is a drop-in replacement and readily available from salvage yards for $400-$500. The challenge is getting the R200 in the rear to match.
The cheapest approach is to find another Nissan using the R200 and 3.69 ratio and swap the whole differential. I found the G35, 350Z, G37, 370Z all use the R200 and have 3.69 as a ratio option.
I settled on a 2008 G37 automatic as a donor because it had a 3.69 open differential. After 2008 Nissan went to 3.54 for the auto and the 3.69 only comes in the manual transmission cars, with the viscous limited slip carrier.
The VLSD carrier is wider than the open diff, and one of the axle shafts is shorter by 0,7". Supposedly the stock G35/G37 axle shaft (and therefore the stock Pathfinder axle shaft) can be shortened by a machine shop, but I didn't want to bother since the VLSD would provide virtually no benefit over the stock electronic limited slip in offroad crawling anyway.
On eBay the price for a 2008 G37 auto rear carrier are typically $200 - $300 but there are a few for under $200 and when I drove to a local salvage yard they dropped the price to $100 flat. When I took it home and opened it up it was perfect inside, in contrast my Pathy's was black with heavily worn spider gears and lots of shavings - probably from doing numerous of donuts in the desert.
The input flange, output flanges and rear cover have to be swapped, and the G37 auto has a weird Pinocchio nose on the pinion gear, but that was easily removed with a grinder and cutoff wheel. A slide hammer is needed to fed the side flanges off and an impact wrench to get the pinion nuts off, and a gear puller to pull the pinion flange off, other than that no special tools were needed.

G37 on the left, Pathy on the right. Pinion flanges, axle flanges and rear covers will be swapped.

The G37 auto diff with 3 bolt flange and Pinocchio nose.

The nose had to be cut off just to get a socket on the pinion nut.

Pathfinder axle flange on the left, G37 on the right. Pull them out with a slide hammer.

Cleaned up the stump on the pinion.
Filled with oil, put in the car. Works perfectly.
Going from 3.36 to 3.69 is a 10% gear reduction which compensated nicely for the 8% gear increase from 33" tires.
Now that the rear experiment worked, I will get a 3.69 front axle complete from a Frontier.