We did like Minnesota Dick with the floor board extensions.

 

I decatted my pipe on my 2012 at home in my garage. The process took maybe 3-4 hours. I used a die grinder to cut a window in the pipe, removed the window completely, dug the cat material out with a screwdriver and pliers, cleaned up the inside with a dremel, and rewelded the window back in with my MIG welder. I used a grinder with a soft wheel to clean up my weld after I was done. Total cost? A cutting disk, a grinder wheel, a few welding supplies, and a spray can of high temp header pipe paint. By the way, somebody said that you needed to find somebody who could weld stainless to do the job. My pipe is made out of carbon steel. I welded it with E70s-6 welding wire--- no stainless needed.