As much as I believe the Frontier, at least up to the 2020 model year is the best Nissan vehicle you can get, time will tell on the newest ones.
I know my local Nissan dealer would typically only stock 2-3 of them at best because of slow sales and they stocked zero Titans because of the same.
I don't agree with the comment above about no legroom in the rear seating area. The crew cabs are quite roomy. Obviously everyone's fit is going to vary, but I'm 6ft and have plenty of room in the back of my FIL's 2017 crew cab long bed. Leg room comes into play in the front for those over 6ft. My 2019 Ram 1500 classic crew cab, short bed can make tighter turns than my FILs Frontier and my Hemi gets better MPGs for day/day driving.