If the steel rod is intact, this is a no cut, no weld, no special tool job, and it is one of the easiest repairs on the car.
Working sequence that avoids the usual frustration:
Work on a cold exhaust, on ramps or jack stands. Never under a jack alone.
Spray the old rubber and the rod with soapy water or silicone lubricant. Dry rubber will not slide; lubricated rubber slides off with a pry bar in seconds.
If you are installing a full system, hang everything loose first, seat all the joints, then tighten from the front of the car backward. Tightening as you go is the single most common cause of misalignment.
Check clearance before you call it done: the pipe should not touch the floor pan, driveshaft, fuel line or wiring anywhere, and the system should move slightly when you push it by hand.
Welding only comes into it when the steel hanger rod itself has snapped off the pipe or the chassis bracket, which is a separate repair from the rubber.