The location of the speed sensor on the 2000 Frontier, is the same for both automatic and manual transmissions on the 4WD model. The Speed sensor is marked as 25010Y on the below linked diagram.
http://www.courtesyparts.com/images/d22u/d22u_327-4.gif
It should look like this.
http://shop.oreillyauto.com/product_images/img/sta/sc183-1.jpg
-John Bagnal
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