Whether you knew it or not, you have an aftermarket Center link. The center link is the “dog-bone” shaped part that the tie rods, idler arm, and pitman arm all attach to. It appears to be a Grassroots 4x4 center link, I’ve got the same one. It’s a very common problem with the grassroots center link for some tie rod ends to contact the frame in that location. Some folks shave down the tie rod ends if there is a certain brand they want to use or they will just find one that is a lower profile and doesn’t hit. There’s a bunch of info on the xterra forums about this issue.
With that said, I’m not convinced that’s causing your squeaking issue. Though you should address the tie rod contacting the frame, it appears to be doing so lightly. I had the same problem with Moog brand greasable tie rod ends and it didn’t make a squeaking noise.
Can you give some more details about the conditions that cause the squeaking? Is it happening at full turn while going over bumps perhaps?
As a side note, the bolts that connect your center link to your idler arm and pitman arm should be installed with a castle but and cotter pin (like the tie rod end to centerlink has.) it’s a safety issue, to prevent the nut from coming loose and the bolt falling out, disconnecting your steering.