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This is going to sound odd.... go to a Ford dealership and ask if they had to change the exhaust on a Lightning back when they had them, because I think they had side exit from the factory.
I have side exhaust on my jeep and I've always been told it needs to exit past the door. And I'd imagine if you wanted side exhaust it'd be under you bed so it should be ok
Well if your exhaust is gonna exit right under a door I could see why it might be illegal because its kind of a safety hazard. I geuss it all depends on where you want to dump it...