My pathfinder is stock height and it has taken every off road challenge I've thrown at it with aplomb. I call it "shockingly capable." I can keep up with and occasionally pass locked and lifted rigs with the right, careful technique, which of course is the key in all off road driving. But the R50 is really the underdog off road extraordinaire- it looks like a mall crawler but it'll do things I never thought it could. And this is with open/open diffs. I want to say all have a 'center diff lock' which apportions 50/50 power to the front and rear axles, but I could be wrong on this. Either way, I only have larger tires (245/75r16 Toyo Open Country AT IIs) and upgraded shocks and struts (rear Bilstein 4600s, front KYB GR-2s) but stock height, and I couldn't be happier. The power advantage over the 4runner 3rd gen is huge (yet is significantly cheaper), and the quality and refinement slaughters the XJ. It fits extremely well on narrow trails, and has nearly identical approach/departure/wheelbase to a new Xterra without costing $25000. I would suggest skidplates if you're not planning on lifting, you can have them made or buy them from 4x4parts like I did: https://www.4x4parts.com/nissan/pathfinder-set-of-skid-plates-p-3455.html
*My biased 2 cents* Though before buying mine I test drove Cherokees, Monteros, 4runners, Xterras, Foresters, Land Cruisers, and a myriad of other 4x4s, as well as having experience with a 1st gen explorer, 100 series land cruiser, and thousands of miles off pavement in our current 2003.5 Dodge Ram 1500 4x4 Hemi.