The FSM specifies Nissan Matic J. Castrol Import Multi-Vehicle is recommended for Matic D and J, and is what I run in my Pathfinder (RE4R01A trans, spec'd for Matic D) and I have no complaints. Your Frontier has a RE5R05A trans. I would install a Magnefine in-line filter too to prolong the fluid life. A 3/8" size Magnefine is most likely the correct one.