My steering set up is a little unconventional compared to most, but if I had run standard hysteer it doesn't look like there would be any problems. My oil pan sump is in the rear, so there was no interferance there. If it were close, it should only be a problem under equal compression. Like jumping. Under normal rock crawling where you're articulating, one side goes up, and the other goes down, so there shouldn't be clearance problems under those conditons. Good bump stops should limit the equal compression and prevent contact.
Usually a small body lift is required to clear the top of the motor. If you don't like body lifts, and don't mind a little body work there are some hood scoop options to gain the clearance.
As far as exhaust goes, there are other routing options. I run my cross over under the tranny just behind the bell housing. It's tucked up out of the way, and doesn't interfer with any other parts.
