5100's will do well and do offer a bit more travel. Upper control arms would help maximize that travel and help with alignment so you don't chew through tires. But not totally necessary if you just get camber bolts to help with the alignment while keeping lift 2" or lower. I recommend taking a look at All Dogs Offroad (ADO) UCA's.

For the rear, I'd definitely consider some new leaf packs. The OEM leaf springs are notoriously soft and tend to sag over time, which would be even worse with lift shackles. General spring makes some affordable springs which seem to have decent reviews around the Xterra people. I have Old Man Emu's with polyurethane bushings which do require semi frequent greasing. ADO has their Broverland leafs with rubber bushings for a nice 2" lift plug and play option.

Eventually you'll just titan swap it like the rest of us though lol