Will the engine light pop up if change exhaust
I can't say this on the RX with 100% certainty, but on the handful of cars I've changed my exhaust (some axle-back, some cat-back like Wald's) and no issue whatsoever. My recent project is on my IS and all good. So long as your catalytic converter is not removed, I would not expect any issue. You can always ask Wald if you want 100% certainty.
I can't say this on the RX with 100% certainty, but on the handful of cars I've changed my exhaust (some axle-back, some cat-back like Wald's) and no issue whatsoever. My recent project is on my IS and all good. So long as your catalytic converter is not removed, I would not expect any issue. You can always ask Wald if you want 100% certainty. 
A simple test for you to try to mitigate any risk before investing in the exhaust is unbolt your current one and drive the car around for a bit. Good luck and keep us posted. Definitely interesting to see a modded RX beyond some cosmetics (extremely rare).
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