You only have to remove the exhaust aft of the CATALYTIC CONVERTERS. I wouldn't recommend doing it right after a long drive... Things do get warm in the vicinity of the exhaust pipes... You might get away with dropping the exhaust system down from the front and letting it rest on something to support it.
Once you undo the U-Bolts which are on the rear U-Joint, heist it up then wrestle it back, above the differential.
Once the front yoke clears the tailshaft of the transmission, work it forward, and be very careful not to let the caps and all those needlebearings fall off.
This is a job to be best accomplished on a lift, in clean surroundings!