Hi,
I can't quite remember the exact number (I had a look on the net on the gov sites but could not find what I was after) but one of the rulings on exhausts is that they have to be at least 25mm (I think) rearward of the most rearward non-fixed window (including hatches) in a vehicle.
So in the case of the Hilux you don't have to go over the diff. You could even go with some nice side exit if you wanted to.
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