This was done on my Xterra, but figured it applies to the frontiers as well.
Today, I decided to do a before and after Dyno run on my 2002 Xterra. I ordered the full Nismo SS catback exhaust, with Y pipe. The installation was easy, taking all of about an hour. It came with all new hardware, and new OEM gaskets. The build quality looked excellent, and the welds were quality. My biggest complaint would have to be the size of the tip.
Dyno numbers were as follows:
Before peak HP 124.7 and peak torque 147.5
After peak HP 129.9 and peak torque 151.7
Peak HP before was at 4900 RPMS
Peak TQ before was at 4100 RPMS
Peak HP after was at 4600 RPMS
Peak TQ after was at 3600 RPMS
I am waiting on all the charts to be emailed to me, so I can compare numbers better. If you base all your numbers off dealer HP ratings, which are done in a perfect setting, and are crank HP, then these numbers will seem low. But these are HP/TQ to the wheels, which at a 17% drivetrain loss, is about right. These are also uncorrected numbers.
So, is the exhaust worth it? That depends on what you are after. My stock exhaust was showing signs of wear. The flex joint on the stock y pipe was rusted, and about ready to wear through. So, I would have needed to replace that anyways. Other parts of the exhaust were getting pretty rusted as well. So, for the price I paid for this exhaust, it was worth it regardless of any performance gains.
The sound difference is really negligible. Inside the cab it is slightly louder over stock. Outside the cab, it is louder, but sounds nice. My 05 frontier, with an intake is louder than this exhaust.