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Is it possible to remove burnt urethane off my skunk2 muffler and not ruin the surface, if so what should I use?

 
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Try and scrape it off first with a heat gun or hair dryer and if that does'nt work try a kitchen sink cleaner like Ajax or Soft Scrub or maybe a higher strength cleaner . It is stainless steel and not much will hurt it except excessive heat will discolor it. If it looses the gloss look after you clean it try to polish it again with some stainless steel polish.

 
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Carry a scraper... after a long drive.. run out ans scrape it off...