I called Pacesetter and was told that they have never tried putting their headers on a 2wd so they can neither confirm nor deny they would fit a 2wd.
According to this thread http://www.nissanpathfinders.net/forum/topic/39469-hand-me-down-93-xe-2wd-4wd-conversion/?hl=%2B4wd+%2Bconversion
"The aftermarket long headers are only designed for the 4wd, [because] they won't fit between the trans pan torsion bars"
So, in case anyone else has the same question, maybe that will help you.
Doug Thorley, however, does make a shorty header I think will fit but would require you to fab your own y-pipe. https://ruggedrocksoffroad.com/nissan-pathfinder-headers-no-ypipe-by-doug-thorley-30l-v6-1990-1991-1992-1993-1994-1995-p-60125.html