The headlamp stalk/switch sounds like the culprit. This is fairly easy to test with a multimeter and the Factory Service Manual, available here:
https://www.nicoclub.com/nissan-service-manuals.
Drill down to Pathfinder > 2001.5 > Electrical System. Since 2001.5 is a conversion year, you'll need to see the note about VIN cutover to know if you have the "Previous" or "New" Smart Entrance Control Unit, then look at the Headlamp section depending on US or Canada. Since you have DRLs, guessing Canada?
Anyway, you'll find system descriptions, the schematic, and a wiring diagram for the entire circuit. Once you remove the steering column cover, you'll have access to the wiring harness at the stalk and can use voltmeter to check for voltages before and after the switch. The wiring diagram indicates the harness shape, pin locations, and wire color (see the General Information chapter for the wiring colors, but typically they're pretty straightforward except L = Blue, B= Black, BR = Brown). You should also confirm all grounds are good.
You can do this at the headlight/bulb harnesses if you'd like, but at the stalk is the best place. If the stalk is deemed bad, junkyard is one route, used ones on ebay, or new ones on RockAuto and probably Amazon. Just make sure you match it to whatever features you have, like fog lights and Auto headlights.