Drill a hole in the centre of the dent, bit of wire wrapped around a short bolt with the end cut off, thread afore mentioned bolt thread through hole and pull the farker out, if it wont go heat the farker within an inch of its life before pulling.
If it works, fill the hole with weld and grind and sand flat.
Might work.
Or drill hole in opposite side of exhaust to the dent and poke in an old thick stem screwdriver with the tip flattened and hammer the carnt flat from the opposite side, then get the welder out.
Arghhhh expansion chambers