I have a stock 2005 O/R but almost no experience. Only trails I've done so far are Santiago Peak (did the whole thing at like 5 mph because I didn't deflate my tires first so it was bumpy as hell...), and some rutted gravelly mess in the Mojave that my GPS thought was a road. If you think that's enough, I might be willing to give it a try.
On that note, guess who gets to fix their axle/pinion seals before the trip 
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CMT (Calcite Mine Trail) has a couple of sections that require careful spotting and use of your factory locker.
If you choose this run, place yourself back in the queue so you can watch how others take successful lines up the first obstacle. It is a seriously rutted section of off camber bumps, that usually puts a stock Xterras sway bars and suspension to the test. Bring a camera/charged smartphone, as the likely-hood of some "three-wheel" photos is high here.
You won't have issues following your trail leaders guidance, airing down to at least 18lbs. PSI, and following through the fun obstacles this run has to offer.
Spotting tip: folks should be guiding you with "driver/passenger" as opposed to "left/right." Also, a quality spotter never uses the command "straighten it out..." as you can't see your wheels orientation from the driver's seat. Spotters should always be guiding with either the "passenger" or "driver" command to get your wheels straight and back on track. Spotter/driver communications should calmly build a sense of confidence and trust that often results in friendships that last a lifetime...
Have fun, and Celt is correct...the history of this trail, combined with the views from the top overlooking the Truckhaven Hills and Anza Borrego Badlands shouldn't be missed.
