I run 3inch, no muffler but with a hi flow cat. I have been in a traffic stop twice, in the same spot, different times, by the police and the RTA together. Both times they got under with a heat gun and pointed it at the cat. I asked them on the second time why and they said they can tell if the cat has been gutted from the surface temp. Plus they said my pipe was a bit noisier than a stock Patrol. So they knew what they were doing.
If you thinking about not putting a cat in, first find out how much the fine is if caught without it. Then rethink your decision. Not a lot to gain from not putting a cat in IMHO anyway. Especially on these motors.