I have the absolute base truck. Steel wheels, no bedliner, no tinted rear glass or sliding rear glass window, and I'm told that it didn't even come with a bumper! Apparently Nissan made a few so that they could legally sell the XE as an upgrade. Anyhow, it didn't come with intermittent wipers - just off low and high.
So I'm pleased to say I completed my first "mod" today by swapping out my windshield wiper stalk with an intermittent one from an '03 Xterra. From reviewing the factory service manuals, it appears that Nissan changed designs on the wiper switch for the 2002 model run, and integrated the wiper delay amplifier into the switch assembly - so it's truly a plug and play swap. I was able to get both switches (new headlamp stalk has fog light switch for a later installation) for $40 shipped out of a junk yard.
I did a good bit of searching for this and never found it mentioned, but if this is a duplicate, please don't flame the newbie...
If anyone else has an '02-'04 Frontier without the intermittent wiper option - this should work for you too!