Does a 2006 Nissan xterra comfortably seat 5 people?

What if I had two of my fat friends in the back? I'm looking for something roomy, sits high off the ground, and isn't a nightmare on fuel. I kind of like the xterra, but I've never been in one to know if it has enough space. I was also thinking about a Honda Pilot, but I'm more concerned about the xterra right now... Thanks.