What JeffPro4x said. The Scotch-Brite pad works really well but make sure you take your time to scuff up everything and clean the residue off completely. I had a small spot on my grille come off after some time, but after another scuff and repaint it has been fine. When you take the grille off, I separated it into two section and just painted the front plastic piece.
Taking the rear emblems off is relatively simple. You soak behind the emblems with WD40 then use dental floss to separate (kind of sawing through). You might want to mark the location of the Xterra badge (I used painters tape), and I believe the Nissan logo has two guide tabs that you'll have to work around. I can't remember if the TERRA section has them. Then 3M tape them back on.