Which aftermarket exhaust would you recommend for the Toyota GR86?

I recently purchased a Toyota GR86 and I'm looking to upgrade the exhaust system. I want a deep and aggressive sound, but I also want to make sure it is legal and won't void my warranty. Can you recommend a specific aftermarket exhaust that fits these criteria?

I personally have the HKS Legamax Premium exhaust on my GR86 and I love it. It has a deep and aggressive sound without being too loud. It also meets all legal requirements and won't void your warranty. I highly recommend it.

From my experience, the Borla S-Type exhaust is a great option for the GR86. It has a nice deep tone and it is also legal and won't void your warranty. Plus, Borla exhausts are known for their high quality.

I have the Invidia N1 cat-back exhaust on my GR86 and I absolutely love it. It has a really aggressive sound and gives a nice boost in performance as well. Just make sure to get the non-resonated version to avoid any potential noise complaints.