Usually 3 L and 5 L engines NA have a straight pipe only from engine till end.
But in few cases where pickup is make for SUV purpose suppressors are added to feel it like a car.
You can remove the mid suppressors and last resonator.
Make a straight pipe till the end it will make the exuast a little bit louder but not like petrol car you will not even feel difference in noise when windows are closed.
HP difference in a NA engine is not noticeable.
I have downpipe my Diahatsu Rocky 2.8 diesel DL engine.
Bottom end is same where as mid range and throttle response in higher gears have improved.