The rubbing you hear is just bad vibration. My 392 durango had the same annoying thing. My solution was a flat thin piece of metal extending connecting the rear pipes. No more sound. 😀
Problem fixed, the people that installed it originally had it twisted and just not set up correctly. We took it down and reinstalled everything and no more rattles. But thanks for the idea 👍. I’m sure that would have worked well too.