Use cumsum
for the cumulative sums that determine the times N_t as well as the X_t. This illustrative code specifies the number of times to simulate, n
, simulates the times in n.t
and the values in x
, and (to display what it has done) plots the trajectory.
n <- 1e2
n.t <- cumsum(rexp(n))
x <- c(0,cumsum(rnorm(n)))
plot(stepfun(n.t, x), xlab="t", ylab="X")

This algorithm, since it relies on low-level optimized functions, is fast: the six-year-old system I tested it on will generate over three million (time, value) pairs per second.
That's usually good enough for simulation, but it doesn't quite satisfy the problem, which asks to generate a simulation out to time T. We can leverage the preceding code, but the solution is a little trickier. It computes a reasonable upper limit on how many times will occur in the Poisson process before time T. It generates the inter-arrival times. This is wrapped in a loop that will repeat the procedure in the (rare) event the time T is not actually reached.
The additional complexity doesn't change the asymptotic calculation time.
T <- 1e2 # Specify the end time
T.max <- 0 # Last time encountered
n.t <- numeric(0) # Inter-arrival times
while (T.max < T) {
#
# Estimate how many random values to generate before exceeding T.
#
T.remaining <- T - T.max
n <- ceiling(T.remaining + 3*sqrt(T.remaining))
#
# Continue the Poisson process.
#
n.new <- rexp(n)
n.t <- c(n.t, n.new)
T.max <- T.max + sum(n.new)
}
#
# Sum the inter-arrival times and cut them off after time T.
#
n.t <- cumsum(n.t)
n.t <- n.t[n.t <= T]
#
# Generate the iid random values and accumulate their sums.
#
x <- c(0,cumsum(rnorm(length(n.t))))
#
# Display the result.
#
plot(stepfun(n.t, x), xlab="t", ylab="X", sub=paste("n =", length(n.t)))