2 years ago, my daughter bought a 2009 Rogue SL. with 135,000 miles.

I decided to do a minor overhaul. Changed the water pump, alternator, and tensioner.
However, I was not able to remove the pulley. The bolt was too long and the sheet metal frame was in the way.
I was tempted to drill a hole in the frame, but was afraid to weaken something.
Every now and then I see the box with the pulley in it and wish I could replace it.

Is there a way to replace the pulley without having to remove the engine?

I assume you mean the idler pulley. If you disconnect the dogbone (torque) mount and remove the nose mount, you can generally jack the engine (drop or raise) enough to clear the frame extension. With the nose mount removed, you can also get about 1/2" of sideways "give" out of the transmission mount to pry the engine sideways. To get even more drop, you can remove both righthand subframe hanger bolts and tip the entire engine and trans as an assembly.

Yes... Idler pulley. Wow, seems like a bit of work, that I am not sure I want to deal with.

Let me ask another question. How long does a typical idler pulley last?
If it's 200,000 miles, I guess I will let it go.
The car has about 150,000 miles now.

They're sealed bearings on a fixed base, so trying to predict longevity is a bit like rear wheel bearings. Some go 100K, some outlive the car. Given what a PITA the idler is on a gen1, I think I'd replace it whenever it makes noise or if I happen to have the mounts loose for some other reason.

Sounds like good advice.
I'll go with that.

Thanks!