My suggestion is to just get TRD exhaust. TRD components are designed by Toyota engineers and are guaranteed to adhere to the warranty. Go to their website and check out their parts, which are all made to work with your existing vehicle warranty.
If you want to go with something that isn't TRD, make sure to do your research on it and see if people are having CEL (Check Engine Light) problems.
I know the Tacoma has two O2 sensors, one before the cat, and one after. Make sure the aftermarket exhaust addresses this issue. BUT, even if the sensor drill holes are there in the right position, exhaust flow can/will be different, thus affecting your air-to-fuel ratio, which could cause the CEL to come on.
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