Also consider a high-level/generic test of the 4WD system. Being that it's a QX4 - they will all be fitted with 4WD, well, at least they are for the 01-03 models.
It is a "dial-a-wheeldrive", so no floor shifter for the transfer case.
Find a rather empty and wide parking lot, shift the dial into "4Hi" slowly edge forward to make sure the transfer case "engages". there's no real sound/feel that says the transfer case has engaged the forward axle or not, just a precaution I usually take whenever shifting between drives.
Then slowly make turn to one side WHILE the truck is ROLLING. You will need to give it a moderate bit of gas. Don't stomp on the gas pedal, just enough to make the truck go around.
What you're looking for is the front wheels to be breaking/skipping atop the asphalt. You should NOT hear noises like clacking or banging or loud/abnoxious screeching. The engine will load up, as you can imagine the engine is trying to put power to the front wheels but having a hard-time as the wheels have a lot of traction, which means 4Hi/4Lo should only be used extensively on slippery paths (muddy, loose dirt, snow, ice-if you dare, etc).
Of course you would do this turning the steering wheel the other direction as well.
There's no way (that I know of) to test the "Auto" feature on the dial. Auto implies that the sensors will detect when to engage the forward wheels, otherwise it'd be driving in RWD until the FWD is needed.
Another test I like to do, to test an Automatic Transmission is to leave the AT selector in "N" (neutral).
With out stepping on brake pedal, engage into "D".
What I'd be looking for is whether or not the truck jerks forward - jerking forward would indicate to me, something loose as far as engine mounts, tranmission mount, or possibly issues with the AT shifting into drive.
Also listen for grinding, abnormal whining or abnormal sounds.
Consider smelling the transmission fluid after you've taken a drive - or after you've done the 4WD test.
See if it smells burnt.
Check the inside/under the Oil Filler cap. Helps get an impression of how much maintenance-attention the owner gave the truck.
Go to the rear side, just under the rear passenger seats.
You should find the trailing arms.
See thread:
qx4-rocking-violently-side-to-side-on-h ... 69178.html
grab each one and check if they're loose or not.
Also check the wheel-wells of each.
See thread sticky:
97-04-pathfinder-qx4-strut-housing-corr ... 34872.html
Not so important if the truck didn't encounter too much muddy terrain, or snow areas, where salts and junk can get around the underbody.
But if the truck traveled plenty to snow areas or was in the mud often, check for weak spots or rust behind the springs/wheels.
That's all I can think of right now

Good luck.