does anyone know if the front drive axles (half shafts) are the same in the 2000 and 2001 model year Xterras?

The same in all model Xterras.

In fact, correct me if I am wrong here, but they are the same drive axles used in the Pathfinder since 1996 and the Frontier since new. I know the spline count is the same since I have Pathfinder hubs on my X and the Pathfinders used the C200 front diff for years, but with varying spline counts.