I think that's the only way you can remove/fit it without cutting, people have done it that way before.
The official Ford procedure is to cut it. You probably don't want to cut and clamp a brand new exhaust but it might be the easier option.
All exhaust systems are single-part systems. The final muffler can be renewed separately in service. In this case the pipe needs to be cut through, and the new final muffler needs to be secured with a servicing clamp.
If you decide to remove the beam, as a first step you could maybe try disconnecting just the lower shock mounting bolts for a bit of extra wiggle room behind the beam, if that doesn't work try disconnecting just one side of the beam so the beam alignment won't be changed, then a last resort take the beam off.