'belly pan'
If you want to, you may completely wrap the entire exhaust system with insulation of your choosing, and then install a 100% belly pan and diffuser.
Dr. Teddy Woll, of Daimler-Benz/ Mercedes-Benz has advocated for this.
Mercedes won't do this, on account of cost, and potential 'challenges' when servicing ( under warranty ) a 'production' M-B ( Code for fewer corporate profits, if they were the only automaker to do this ).
You're not constrained by outside 'bean-counters.'
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