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Exhaust systems - explained

How do car exhaust systems work? Why do cars have exhaust pipes? What are the different components of an exhaust system? An exhaust system includes: headers, O2 sensors, catalytic converters, ...
Resonators and mufflers are both parts of a vehicle's exhaust system. But if you look at the two components side by side, you may struggle to see the difference between them. That's not to say that ...