I drive an 02 Nissan Xterra but I'm not sure about the gas mileage. I want to figure out how much it will cost me in gas to travel 37.63 miles.
You need to know how many miles per gallon you're getting and how much one gallon costs.
Alternatively you could note how much gas you have before you start, drive 37.63 miles, and then fill up to the same level as when you started.
If you're claiming expenses, you often get a fixed rate per mile no matter what the gas costs.