I have an ARK grip with ART test pipes - 350z DE. It was my daily driver for a year or so and it was never too loud. I found the ARK to sound great but too quiet with stock cats, but perfect once I added the ARTs.
There is very little drone unless you're in a very specific rpm range (low speed, high gear, uphill). Its easy to cruise around for general driving not making a lot of noise and avoiding attention, but when you do put your foot down its great: both loud and not raspy.