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This is the alternator replacement on a 2002 Xterra, 4wd, 3.3L engine.
Manuals and other videos state since the alternator is on the bottom, driver side that you have to come from the top. I pulled my alternator out from the bottom. Worked like a charm hopefully this helps out someone else.
Part to use from amazon:
amzn.to/3UzBV2N