I'd try to pop it out first, worst thing that happens is you have to take out the pipe to put it back in, right?
IIRC a rubber seal holds it in (well enough, not a great seal though...) so it should be able to pop back in. You've got your skid plate and whatever else under there so if it falls, you're unlikely to find it easily.. (unless you get to take them off too, and make this job 3-4 times harder than it should be...
Easiest method is to have someone else do it ;-)
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If you're not driving it "like its stolen," are you really driving?
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