Let's think a little more about your goals...
-How do you camp now? (tent, popup, etc).
-Where do you plan to camp? (state parks, back country, etc.)
-Do you want bath/shower in the trailer, or use campground facilities?
-Cook inside or outside? (a great number of us cook outside).
-How many people will you need to house/sleep?
-Do you need to take gear; bikes, kayaks, atv, etc?
This will help you determine what kind of trailer would be best, if you want to use the Xterra. As a first time buyer, you can see this decision can eat up a budget quick. It's no fun getting all setup with new trailer, and the new tow rig, then spending your camp time worrying about the extra work at the job you'll have to do to pay for everything.
We went from two tents to a home-built cargo trailer conversion. It is amazingly comfortable, useful, modular, and paid for. We often are asked to "tour" it when we're out camping.
Adding to the suggestions posted, I really like these little trailers. Designed to also be mini-toy haulers, I see some very much "convertible" use possibilities. Certainly would fit your Xterra tow capacity.
Intech RV Max Flyer Plus mini camperOh, our need was primarily gear hauler and camper, nothing made suited our needs for the budget. May not suit you but, can generate some ideas, so here's ours: (You'd need to shrink your version a little)
7x16 Cargo Trailer ConversionBest of luck.