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Overview and some notes from my experience replacing the starter motor on my 2004 Nissan Xterra. This is specifically for the 3.3L engine and 4WD model.
Tools I used:
Battery Cable Connection: 12mm shallow well socket and 12mm box end wrench.
Starter Motor Mounting Bolts: 14mm shallow and deep well socket with several extensions, universal joint, or a swivel head ratchet wrench.