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If done properly it can help for sure. although for some, the sound can be so nice to hear that they romp on the peddle a bit more which inturn hurts mpg.
there are plenty of exhaust threads so do your research
The stock exhaust systems on these trucks are generally restrictive so anything that frees up some airflow helps make more torque which will improve mpg. But the biggest restrictions are the stock manifolds and cats so unless they are upgraded you won't really see much improvement.
my suggestion is headers, 2.5in pipe and 24in glasspacks to true duals or into a single 3in pipe, prefereably no cats but depending on state emmisions laws u might have to put a high flow cat on there, should give you some seriously good sounds and god boost to mgp say 2-3mpg if you cats were alittle clogged, but glasspacks are kinda loud so flowmaster 50s should be good to sound mean but not be too loud
well first of you want the headers and mufflers yo want to put on there and tell them that you want either duals or duals into a single 3in and tell them where you want it to exit or ask their personal preference or ideas cause they are the pros, personally i would do it myself