2017 Tacoma TRD 4X4 off road exhaust reroute

I just bought a new Tacoma and have been sliding under it to see about skids. I ended up buying the Toyota TRD Pro front skid in Aluminum and have ordered the Pelfreybilt mid skid that works with the front skid as well as their gas tank skid. Now I'm looking at the transfer case skid issue. I see how the drivers side exhaust is routed under the transfer case to connect to the Y pipe on the passenger side. Obviously it projects down below the frame which is not desirable. I've been trying to see how it could be rerouted. I have a catalylic converter on both the drivers and passengers sides just past the exhaust manifold. There is no way you can turn the drivers side exhaust pipe down under the transmission because of that. And I can't remove any converters as we have very strict emission laws and yearly inspections here in Hamilton Co., TN. It appears that the only way you are going to be able to reroute the exhaust is to go behind the transfer case. I see there is a large black control box on the back of the transfer case so that would need to be protected from exhaust pipe heat. And the pipe would need to be run so it would clear the drive shaft under all conditions. The rear of the drivers side converter attaches to the rest of the exhaust system via a slip joint and clamp. It would appear that one would need to take the existing Y-pipe off and redesign it with a flange pointing toward the drivers side of the vehicle. The new reroute pipe would then have a slip joint on one end and a flange on the downstream side and, hopefully, utilize the existing exhaust pipe hangers. A heat shield would need to be incorporated to protect the black plastic control box on the transfer case. AND---the whole mess needs to fit under commercially available rear skid plates---like, for example, the one that Pelfreybilt offers. Is this the conclusion that others have come to about this? If so, can one buy the reroute pipes anywhere? In fact, it would be nice if someone offered not only the redesigned crossover pipe but the redesigned Y-Pipe together. Maybe as one piece. Surely some enterprising entreprenuer has this in their catalog?