I also have the AVH-4200NEX installed in my Xterra. I really love it; fast, lots of I/O options, big touchscreen, and customizable. Android auto works perfectly with it and adds a lot of value to the setup IMO.
The two dings I have against it are that the touchscreen are resistive (capacitive is slightly better for viewing and responsiveness to touch) and that it doesn't have a physical volume knob (though the mute button partially fills this void)