Hi, I've done a couple of rusted together pipes, and invariably end up just cutting it.
Cut the pipe off a little bit above where it comes out of the manifold, just make sure to leave a half inch or so to grab on to. If its thin enough, you can take a punch and knock one side of the pipe inward just above the manifold to kind of collapse it. Work the fold downwards with the punch until the pipe comes loose.
If its too thick to collapse easily, the only other solution I've ever had any luck with is cutting it. Assuming you don't have a cutting torch, you're stuck with a hacksaw blade and some elbow grease. One of these handles you get at a home store that holds onto one end of a hacksaw blade will make it easier.
Cut the pipe lengthwise with the hacksaw blade, until you get deep enough to start hitting the threads on the manifold. At that point, all that will be holding that side of the pipe together is some little thin strips of metal in the threads, at you should be able to hit it with a punch and collapse it enough to be able to unscrew it.
If worse comes to worse, make several cuts and take it out a piece at a time. Be careful not to damage the threads on the manifold (a few nicks won't hurt anything), or you'll end up having to buy an expensive pipe tap to fix them.
I suppose a sawzall or something similar with a metal cutting blade would also work, just be careful not to go too deep.
Good luck, I hate working on exhaust systems as something always breaks.
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