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In 2004, the Nissan Xterra uses ATF fluid for its power steering. To change the fluid, locate the clear plastic container under the hood near the window. Use a pump to remove all the fluid from the container. When the fluid level is low, turn the steering wheel all the way in one direction and then all the way in the other to drain the fluid from the wheel into the container. Once the container is empty, refill it up to the full line but not over. It may take some time for the wheel to loosen up, so drive for about 20 minutes to ensure the procedure was successful.
The recommended power steering fluid for a 2004 Nissan Xterra is the lubegard synthetic power steering fluid.