since this is for my three wheeler and not S40, I am posting this here for advice from those that may have some guidance.  

It's not critical and will ride like it is, but what would be the recommended way to pull this dent if I wanted to try? heat it with a propane torch from the outside an then try to use a rod and tap it out from the inside (sticking a rod in the end of the muffler)? I don't want to poke a hole in the muffler and as I noted it'll be fine if I never do anything, just trying to straighten it out if there's an easy, non-risky way to do it.

Thanks!

Got a torch?  fasten the bracket to something, heat the area cherry red, slowly pull the muffler away from the bracket.
Clamp the bracket in a vise, heat, pull slowly, heat, pull slowly....
Oh, and try not to get the bracket to hot... lol.. you don't want to stretch it.

Remember, UN bending needs to happen slowly. Big Smacks arent the snswer, and yes, that bracket is what bent it IN, and that is what will bring it out, Id try to work it cold before I used any heat. You need a friend and a vise and like a 1X3 piece of wood to lay on the metal, work from the outside edges of where its bent, Someone holding the end of the muffler and the already somewhat straightened bracket secured. You will probably need a metal strap to bolt to, to get room between the muffler and vise. If it will replace for under $50.00, it looks old now, you mite be ahead to slap one on and call it good.