I was told by a dealer that it is under the steering wheel close to if not above the pull hand brake. You need to take off the cover under the steering wheel to see it. Earlier I searched for the same answer and I found this site, and yes the fuel pump relay on 2000 model Xterra is indeed located under the dash around the steering wheel, but no you don't need to remove the cover just lay in floor and you can see it, it will slide off a bracket and you can remove and replace it.
Look under the hood. Along the left (passenger) side are two plastic boxes with fuses and relays that are labeled right on the exterior of each box. EDIT: The answer above is incorrect. Yes, there are fuses and relays under the hood, but the fuel pump relay in a 2000 V6 Nissan Xterra is under the dash, near the steering wheel.
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