I thought that cutting a nice hole into the radiator support panel was defect waiting to happen.. This is if i remember correctly thus on my previous GSR I had it run under, it all depends on pipe size and end tank entry/exit location.
But i am 99.999% sure that cutting that radiator support panel will get you a nice defect, though the support panel is not structural but, since it is removing re-enforcement it classified as non compliant.
But, it may be worth while finding out from an automotive engineer.
PS: I ran over manifold and didnt have any issues with lag, 2.5" piping.