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Both are good trucks, but I get the feeling that Nissan has been aimless “stuck” after the demise of the D21. I feel that the Titan is the same way. They were so desperate to pawn off R&D in the last year the pondered the idea of partnering with Dodge to build a truck.
I would go with the Toyota. Toyota's are more reliable and they look better. The Frontier has a couple of problems as I recall a common problem was the fuel level sensor. I think there was another problem with the radiator cracking and sending coolant into the transmission. That problem was mainly 05 and maybe early 06. I have learned to go with the saying "you get what you pay for" after owning a Nissan Pathfinder.