On the 2006 there is a large wiring harness grommet hidden under the fender liner with access to the cabin. Some have piggy backed with a small incision.
For my battery relo project, I drilled a new hole nearby through the firewall and added a grommet. The newer Altimas may be the same. Check under the driver side fender liner. Not too much drama to access, but you will need to remove the wheel.
On the 2006 there is a large wiring harness grommet hidden under the fender liner with access to the cabin. Some have piggy backed with a small incision.
The 2010, at least, is the same. I was unable to do a "small incision", since it appeared to me that that large rubber boot is solid. But, yeah, the wheel needs to come off (knowing that would have saved me an hour of so of searching).
I managed to find a rubber grommet just beind the spoare tire storage in trunk. I put cable protector on the sensor wires and brought them from the outside from underneath the car and cable tied them to the fuel lines then brought them up into the trunk. So didn't need to drill any holes luckily and everything looks factory. I am guessing same can be done if you are doing an audio install etc. This is much easier to do except you have to jack the car up so you can get in underneath.
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