I haven't seen any thorough how-to's on this, and believe me, I looked before I started. One useful resource is a directory of the service manual, which will give you the torque specs and show how all the parts assemble.
http://www.nicoclub.com/FSM/Pathfinder/ ... athfinder/ Just click through them to find the front and rear suspension sections.
Beyond that, it's really pretty intuitive if you're mechanically inclined at all. Off the top of my head, the only things I would warn about, some of which are kind of obvious, are as follows:
1) Make sure you support the lower control arm on the front because it will drop when you remove the strut, potentially pulling your cv out and other undesirable things. I always use home electrical wire as a twist tie for this sort of thing.
2) PB blast the heck out of everything before you start. I didn't have any problems (other than the upper rear strut bolts which are a PITA to reach) using my impact wrench, but I started soaking the bolts a day or two in advance. Also, have camber bolts ready as needed, but be prepared for them not to come out of the control arm bushing. I still have some that I'm trying to figure out how to remove.
3) Don't remove the rear springs from their perch. It is much easier to get the spacers under the springs while they are still in place, although it still takes some force to pivot the rear control arm down far enough. I think there were some bolts to loosen that helped.
4) When you do the front, make sure you disconnect the sway bar; otherwise you won't get anywhere.
5) If you only have one jack, put the truck on stands. I don't know how I would have gotten everything back together without having the jack free to put under the control arms to align bolt holes.
6) It's obvious, but make sure you put the rear shocks on the right way so that the adjustment knobs face out. Actually, you could probably still reach them if they face inward, so that's something to consider.
7) Make sure you put anti-seize on the cam bolts you replace, if any, so that you can get them out again later.
That's all I can think of for now; good luck!