The check engine light not coming on isn't that unusual. Even if the ECU throws an error code it doesn't mean the light will come on. Mine has had 4 or 5 codes at one time and still not CEL came on.
Anyway, the code 34 is for your knock (detonation) sensor. They usually go bad with age, but more often then not its the little sub-harness that goes bad. It could just be corrosion on the connector or on the wires themselves, or loose wires or brittle connectors, etc. This is probably whats causing the intermittent code 34. Since your knock sensor is underneath the lower intake manifold (basically really hard to get to) its easier to buy another knock sensor and relocate it to the back on the intake, leaving the stock one where it is.
Read this:
Knock sensor relocation
You can get OEM Nissan knock sensors on ebay for ~40-45 and an upgraded subharness from Z1motorsports for like $20-25