The only thing I can think of are some valves in the evaporative control system. Your evap canister and some valves are behind the rear tire on the drivers side - there is a cover over them.
Go to the service manual here:
http://www.nicoclub.com/FSM/Pathfinder/2001/
Then open section EC, go to page 605. There is a diagram of the parts at the top of the page.
I'm afraid you will have to get under the car and find the exact location of the noise. If that is where the noise is coming from, you should be able to determine which valve is running by putting your hand on it.