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yea i did it today. I have a FMF pipe and they dont use rivets just screws, so it was pretty easy. Made the bike sound a lot better. No lose in performance either.
im not sure about stock pipes because I think they are all one piece with no screws or rivets but if yours does have the rivets or screws try it out. good luck hope it works.
Its not much of a loss of power but you do lose some hp. I cant remember why exactly, something about back pressue in the exhaust but its not enough to worry about.