Open the back lift door. Inside next to the lights there are screws that need to be removed before you can get the whole parking light off. After you get the screws out, you will have to force the whole plastic light cover to get to the burn out light. Once you get the whole light out, replace the bulb and follow the process in reverse.
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If it's the indicator that literally says "service engine soon", and not the check-engine light, then you have no worries. That's programmed to come on at set intervals to remind you that routine service may be due soon (oil change, inspection, tire rotation, etc). It's not an indication of failure. Failures will be shown by the check-engine light. That one is nothing to worry about. Your owner's manual should have a procedure to turn it off.
It's the valley of the engine underneath the intake manifold. It's about an $800 job because the top of the engine has to come off. However, unless you have a supercharged xterra it shouldn't effect performance. Also, the knock sensor will not trip the check engine light, as it does not indicate a primary problem, so if your light is on you should have another code that should be fixed first.