Nolan1947

I have a 2019 ES 350 with 9,000 miles. I was sitting next to a new Maserati sedan at a light and when it took off the exhaust sounded wonderful. My Lexus makes no noise and I don't want to put headers on my car so my question is: Has anyone modified their exhaust system to produce a low rumble? What brand of mufflers did you use? Will it harm my warranty? Does Lexus sell these type of mufflers? Thanks from Aspen. Your new friend, Nolan