Im on the hunt for the exact same thing.. Only problem is I cant find a set up for under $600 including labour fee's, thats actually worth my money. I was told $350(keep in mind its Canadian dollars) for the labour end of things.
The guy told me its not worth going dual exhaust if you want them to cut into your bumper because chances are they wont match the other side and it would look phoney...
So I was on fordracing.com(given to me by the service manager at my Ford dealership) and they have a sweet dual exhaust set up that comes with the pre cut bumper, performance oil filter and a K&N air filter for $1295.00(roughly $1338.87 cdn, not including labour).
Anyways its the "power upgrade" for the 2010 V6, they claim a 27hp gain and you can check out the sound of the exhaust aswell going here...
V6 Dual exhaust sound