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i have a source that says doug thorley is looking at producing a legal set for our vg33's.
 

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a buddy of mine made some headers with some bent pipe and the factory flange for the exhaust.




it was for a pathy 3.0. not sure how this design would work for our 3.3's, there are more electronics involved with ours.
newer headers seem to be designed with cylinder firing order in mind for optimum flow, as opposed to the old "the better it breathes, the better it runs" way of thinking.
 

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as you can see these headers for a non s/c frontier has bungs for the o2 sensor.


as you can see there are probably ways in which you can modify that 3.0 design and mimic this one. IMO, your best bet is to find someone with CAD knowledge and have him mock up headers based on stock spec this way you wont have clearance issues and what not.

GOODLUCK!!
 
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