The easy way is to remove the luggage tray so you can stand in the engine bay, it gives better access.
There's no need to touch the driveshaft, it just needs the connection to the 90deg section loosening and then a contribution to the swear box as you wrestle it out. I'd spray it with WD40 once the silencer/tube connection is undone and let it soak for a bit. That's assuming a stainless system, if you're on mild steel then I'd just take a cutting disc to it !
Brian