With the loom, you will likely need to mod the loom no matter which motor you go with. I doubt that it will be plug and play. For example, there won't be an engine warning light on the dash of the D21. You will need one for the VG30. There will be no plug to provide the various powers to the ECU. The high pressure fuel pump is turned on and off by the ECU. In the Z24 it runs constantly, so another wire for the fuel pump relay. I think I had to add about 6 wires all up, not much, but it will have to be done.
The fuel pump for the Z24 will be a low pressure one as it is a carby engine. The VG30 will need a high pressure pump and a surge tank fitted to provide constant fuel supply to the engine. You still need to use the existing pump. Basically, the fuel runs from fuel tank through low pressure pump to surge tank. From surge tank to high pressure external pump. From HP pump to the fuel rail in the engine. From the fuel pressure regulator back to the surge tank, and there will be an overflow on the surge tank back to the fuel tank return hose.
Not a big job, but without this, you risk fuel starvation. You don't need this with a carby engine like the Z24 because there is a large enough store of fuel in the carby float bowl to supply the engine when the pump can't deliver fuel because it is sloshing around.
An alternative would be to use the Pathfinder fuel tank in the Navara, but I'm not sure how easy that is.
When I replaced my Z with the KA24, I got the motor from a 2WD and I was able to mod the sump and pickup from the Z quite easily to fit the KA motor. It might be possible to mod the Z sump for the VG motor too, but I can't really say. Comments anyone?
I'm thinking I might be replacing the KA24 I put in last year with a VG30 or VG33 soon (for various reasons - there is nothing wrong with the KA), so it;s not like I think it's too hard, you just need to be aware of the pitfalls or you'll be off the road longer than you plan.