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In a 2006 Nissan Xterra, the fuel filter is situated within the fuel pump inside the gas tank. If the filter gets damaged or clogged, the entire fuel sending unit would have to be replaced since the filter itself is not replaceable separately. To access the fuel pump, the gas tank needs to be lowered since the access point is located on top of the tank. It's best to lower the tank when it's close to being empty to make it lighter. Special jacks are available to securely cradle the tank, but a regular jack can also work with a board placed across the tank for support. Remember to place the weight of the tank on the jack before removing the straps.
In the 2006 Nissan Xterra, the fuel filter can be found inside the gas tank, towards the rear left side of the car.