Leave the cat on, remove the muffler, replace with a straight pipe. No warranty issue then, the cat is in place so it remains "legal".
All of my trucks were stock before. The straight pipe sounds awesome, it has a very DEEEEEP tone at low rpm and it rips wide open. The noise level in the cab is hardly any different, nobody the rides in it with the windows up will ever notice a difference. I towed 15k lbs with it through the mountains and never found it to drone or make obnoxious noises, though I am sure it was loud to those I passed:-laf
Our trucks already have a more than adequate 4" system. I also like that it looks stock, but sounds much better. If you drive in the city a lot, and don't want to annoy fellow drivers, it might be a little loud. I like it though, wouldn't ever spend the $$ for a "system".