People shopping for a compact or mid-size truck expect better fuel economy; but over the past several years, with some models of the Ram 1500 and Ford F-150 stretching into the mid-20s, that hasn't been the case.
Now the 2013 Nissan Frontier improves on that complaint, somewhat. With the in-line four, the Frontier gets up to 19/23 mpg with a manual transmission, or 17/23 with the automatic, while V-6 models improve to as high as 16/22.
Those numbers are better than the Titan; but the Titan is one of the thirstiest pickups. Several full-size models in base V-6 form still do better for 2013.