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I believe the law says you have to have some kind of muffler(be it glass packs, regular mufflers etc). For safety reasons it is never a good idea to have your pipes exit under any vehicle. When I bought my truck the previous owner had them dumping right after the cab. Sitting at stop lights the fumes almost overwhelmed me. On the hiway it wasn't bad but you could still smell it. I also think the laws say it has to exit outside the vehicle but I see alot of trucks that do otherwise. Call your local inspection spot they can tell you whats legal and whats not usually.
Mike
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