2010 Nissan Xterra SE

Absolutely not , most likely you have air in your break lines or you have a leak or you are just low on break fluid. Check the break fluid resivor in the engine compartment. Do you see any fluid under the car on the floor? They probably just need to be bled which is the process of pumping new brake fluid through the lines to remove air pockets.

Thank you, will take it to the dealer.