The rails could probably be removed from the Xterra to get access to the bottom of the crossbar. But it's probably too soon to get that serious about access.
Some insert nuts are a simple hex nut wedged into a molded hex-shaped cavity. Other insert nuts are overmolded and often have a knurlled surface for tighter bond to the injected polymer.
Can you get a photo looking upward into the insert?
If you can get a socket on the insert nut (with or without epoxy/cyanoacrylate) you're home free. But that's probably not possible, is it?
I've had luck in similar situations by forcing the insert nut deeper into its cavity, tightening it in the process. You might think about some way to do that -- a appropriately-sized socket in the cavity and a big pair of pliers or clamp to compress it inwards. Perhaps loosening the opposite side (if you can) could help lever the stuck side to put different forces on it as you work it loose?
Have you tried heating it, within the limits of the crossbar polymer, of course? That could help in getting it tighter and won't hurt trying to break the bond locking the torx.