Not understanding you 3 wheel drive thing, But I believe that the Xterra are a front wheel drive based engine and if that is the case most front wheel drives will pull to right at excelleration and then to left under letting of excellerator. This is do to engine torque but if it is extensive you may want to check motor mounts.
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Thanks for your comments, but sorry, for a vehicle to veer in this manner, it would not pass as being roadworthy. It has to be a problem with the selection from 4 wheel to 2 wheel drive, even though no fault light is showing. We have had numerous front wheel drive vehicles and never encountered this problem before.
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