You really would want to bend it quite near the muffler so a pipe bender wouldn't help with that.
Heating the pipe with a torch on the "long" side then quenching is one way to shrink the metal and create a small bend in a pipe. I got about 2 degrees of bend using that method when I built my current exhaust.
Also, by getting the muffler end where the pipe joins red hot and flexing the muffler end cap should work. But anytime you heat stainless with a torch, there will be much polishing involved to get it back to nice and shiny.
I like the idea of expansion and contraction. So heat the body side and quench it to draw the pipe closer to the body? If that fails then heat the outside and push the tail toward the body, securing the muffler beforehand so as to not push on the body?
By doing it that way it retains the original pipes and they could be left on the vehicle if proper welding blankets are used.
