Assuming you have a SHO - Other than the intermediate shaft, all parts are stock
https://www.tascaparts.com/v-2011-ford-taurus--sho--3-5l-v6-gas/driveline-and-axles--cv-components
What you do noise wise is up to you.
E1 is saying, he and or someone up nort' would love to take the removed mufflers off your hands...not including the tips, because, lack of corrosion.
That circled part appears to be the plastic undertray/belly pan. Those are notorious for the being/ coming loose for one reason or another, especially the rear. Missing screw and or missing attachment nut.