Hello I will help you with your question,
You can certainly replace just the muffler if that is the only damage.
The emission requirement is that there be no holes in the system so if a pipe was bent and cracked further up that will have to be replaced.
Any muffler shop can replace the muffler and repair the pipe if necessary.
Please let me know how I can help you with this
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All I can do is quote the factory prices and you do NOT want to go that route.
I don't know of any shop that will quote a price without looking at it to see what is really needed. If they do you do NOT want them doing the work as they will quote a low price and find all sorts of things once they see it.
Have a shop take a look and if they say it is just the muffler then you can check another or two depending on what you have in your area to compare. Make sure you are being quoted on the same parts so it is "apples to apples".
If you want the OEM prices then that is about $750 for the center, rear and tailpipe plus the muffler but that does NOT include the front catalytic converter.
The muffler alone is $300 so let me know what I can do to help you with this