No, so long as your care is properly setup you shouldn't notice any additional wear-and-tear. However, it would be in your best interest to let the car warm up prior to driving it.
I will follow up with saying this: I would never purposely drive a RWD vehicle in the winter if I had the option of an AWD/4WD. If possible I'd recommend keeping the Xterra until after winter then sell it or buying a winter beater.
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