A 4.0 V6 isn't that huge but yes it probably is a decent sized engine look at my 3.5V6 compared to my 4.6 V8 and the V6 looks bigger do to the almost 90* angle that the V is at. The reason your truck feels like it has soo much torque is because of the gearing I mentioned before 3.73's are pretty agressive gears that's a common gear in muscle cars to put more torque to the ground through torque multiplication you actually put more down than the engine produces in theory it'shard to explain.
BTW I have an 01 pathfinder SE off-road package. So far it has a new intake and no mufflers. And it has a few battle scars from off-road adventures.
Oh and the parking thing is nothing, try reverse parking a lowered widebody NSX inbetween 2 MDX's and a pillar. I have a hell of a time racking up regular NSX's, oh and realise some of these cars have stage 2-3 clutches, NOT FUN!
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