Thanks for all of the responses. I ended up swapping in remanufactured Cardone axles (got a great price, and ordered just before I saw the Rockford recommendation), TRQ lower ball joints (the rubber on mine were all cracked), and Nissan OEM stabilizer bar links (same...rubber was completely shot, and found a good price on ebay). I was going to try to do the work with a friend, but he flaked and the tire shop gave me a good price for doing all of the work at the same time.
I've been taking my time, mostly due to laziness, but think I have taken care of most of the problems with my pathfinder. The last major thing is to figure out the roof rack situation (need to pull the anchors from a vehicle in the junkyard, but haven't looked forward to pulling down TWO roof liners) so I can store the spare, which doesn't fit underneath anymore.
Thanks to the forum for help through this process...through lurking and asking questions, I've learned a ton.