Not on a navara but did on an 85 patrol turbo diesel I used to have and even with the stock exhaust and no muffler is wasn't very loud at all right under the cab.... Mind you it was a lot louder with the 3 inch hahaahah, sounded like a truck then..
Mind you I'd still dump it on a downward angle so you can try to keep as much soot off the back as possible...