how to fix right leg heat problem

I’m wondering if someone can provide some step by step instruction on how to fix the exhaust so the my right ankle does’t burn. With long pants it’s not too much of a problem. But I’d like to wear shorts occasionally without having to dangle my right leg over the side. I don’t want to go through the expense and time to get the ceramic coating. It’s a ’15 570 eps. I really don’t know much about atv repair so I need simple terms :).