The clearance under the rear axle is probably about eight inches unless you have drastically larger diameter tires than stock. You wouldn't be gaining much if anything in the way of clearance by removing/changing the plumbing. Frankly, though, eight inches is a goodly amount of clearance for a vehicle that's not traveling off road. A great many cars have only about five or six inches of ground clearance, including every car I've ever owned, and have no trouble going over any reasonable road.
What you might be able to do, depending on where the pipe is, would be to increase the departure angle, which is what tends to cause problems with entering driveways and the like. If the pipes are hanging lower than a string stretched from the bottom of the rear tire to the back bumper (and are in back of the rear axle), then reconfiguring them would for sure be handy. My suspicion is that they are not below that point, and so you wouldn't gain a whole lot in practical terms for clearance and where you can reasonably drive. That's not to say that there aren't any places where it would be beneficial, just that they'd be pretty rare.