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My 2016 GS 200t is dragging its exhaust a little bit while entering and exiting out garage. We have a fairly steep driveway. The muffler drags more when the gas tank is full as opposed to empty.
If there is play in the exhaust/muffler, get some metal wire for example from a clothes hanger and secure your muffler(wrap it around the muffler and a body piece and twist the wire together). I know it's a ghetto fix, but it works, and you won't see it.
That muffler is Huge!
Take it to a custom exhaust shop and see what they can do for you. Like maybe a slimmer or smaller muffler or custom pipes/hangers to route it a little higher.