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Ok, I checked. Yes it appears that the transmission is supported by the crossmember. I couldn't tell if this was additional support, or if it's the primary load bearing member. My guess is you could support it with a jack while removing the crossmember, but you'll probably get a better feeling for what you're comfortable after crawling underneath.
Oh, I'm sure you're aware of this, but if it's caused by driver error it will not be covered under warranty. Only if it's a defect caused by Nissan.
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