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The car does not have to be lifted. I did mine lying in the driveway and it was very easy, just not much room to work
Make sure you have a few heat cycles in them and maybe some WOT runs if that's your thing before finalizing because expansion and contraction along with the torquing of the engine is going to get them out of alignment.
The xtreme is a bit different in that there is no muffler coupler, instead it's just outside the muffler toward the axle. You just have to unscrew that and play around with it