You need to remove the catalytic converter, the muffler assembly, and the left front floor panel
Exhaust Heat Shield nuts and heat shield. If the vehicle is a Tahoe, Yukon, Yukon Denali, or Escalade, remove the exhaust heat shield nuts and heat shields. If the vehicle is a Suburban, Yukon XL, Yukon Denali XL, Escalade ESV, Escalade EXT, or Avalanche, remove the exhaust heat shield nuts and heat shields. Then you can remove the rear floor panel exhaust heat shield nuts and heat shield.