We have a Mercury Mariner which is basically a Ford Escape. I love our Mariner, it's quiet and smooth. As far as mileage, we have a small 3.0 V6 and it does pretty good on the highway and so-so on city streets. With mostly highway driving, it gets about the same MPG as my '99 Honda Accord 4cyl. I can't really say anything about the Xterra, I've only been in one about 9 years ago but it seemed nice and sturdy as well.