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I would think any 1st generation Frontier would work...1998-2004. They didn't make any changes to the firewall, steering box or cab that I'm aware of during those years.
 

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One thing to keep in mind, if it's equipped with an airbag, which would have a clockspring in the column, you should point the wheels straight ahead, remove the key to lock the column before removing and installing the column. This will prevent the steering wheel from turning to far from center and breaking the wires in the clockspring. Make sure you get a column with all of the column covers, as well, because they will be different because of the tilt lever.
 
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