My 82 shouldn't be too different from yours with the exception of a body lift (4" here) possibly.
On mine, starting from the header ****** to the muffler.
You can see the extreme angle that had to be welded onto the ******. This was a bend, cut in half. Inbetween the green lines, you can see the passenger side exhaust.
You can see how the pipe goes above the transfer case, yet still has ample room for the floor pan.
Same pipe, different angle.
And to the muffler.
Maybe this will give you some ideas about how to route the exhaust.
As you can see, my exhaust is purely functional frankensteined pipes.