dynomas has kits and so do other companies that can bolt on.
as for bolting on header mufflers, NO, taking them back past the crossmember involves bending and making it work or welding not bolt on. We had 2 pieces of pipe about 3 ft. long and had to smash them upwards to get them to clear the trans crossmember to mount ANY muffler, on our 84 c10, the exhaust shop just put a small upward bend in them then straightened the pipes out further back to make it level.
Now some had a double hump type x member and might clear fine, but most were just one down one up type crossmembers and right in the stinking way.
Not to mention our summit brand which are flowtech long tubes angles downwards somewhat, and to run our pipes straight would hit the ground if we had ran them since they sloped downwards, meaning with like a 2 foot or so piece of pipe ran straight the muffler would drag, so it HAD to have a bend in it.