You do not notice any driveability issues because the rear oxygen sensor has taken over for the potentially failed upstream sensor.
Check for intake plumbing air leaks and try to verify fuel line pressure following the directions on page
EC-64 of the FSM.
Since you reset the code once or twice, the sensor is probably bad though.
This is a direct-fit replacement O2 sensor. I believe the OEM for the oxygen sensors on a 2003 Pathfinder is Bosch, but it might be NTK. Either way, the Bosch one should function fine.
Here is the location of the oxygen sensor and its harness connector:
You'll need a 22mm (preferable) or 7/8" oxygen sensor socket to replace it.