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I have a 2001 Xterra that was experiencing a similar issue. The dealer told me that the remote keyless entry transmitters could act trigger the alarm when the its battery gets low. The transmitter comes apart fairly easily. On mine, there is a notch in the side where I use a quarter to pry the pieces apart. Try taking the battery completely out of each of your transmitters. If the alarm doesn't go off in the time frame that your alarm would normally go off then you know that's it. If it doesn't work at least your not out any money.

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Q: How do you disable the factory alarm on a 2002 Xterra It keeps going off even if you leave the doors unlocked?
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