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You don't have to take the whole system off. You will however, have to remove the tranny crossmember and put a jack stand or two under the tranny and xfer case.
My mbrp 4" to 5" hits the same place. I had a thick piece of rubber in between it for a while. But then I decided to dent it with a hammer. Hear vibration against it time to time but not that bad
I found out that I could rotate the d I found out that I could rotate the tailpipe by loosening the clamp on the downpipe. Because it looked to me as if I need to be rotated for clearance and it looks like it worked