This is basicly to the OP, but it applies to all that just look at the exhaust pipe as a restriction.
The main point of all this hoopla is that you just can't slap ideas like "less restriction is better".
Engines are more than just intake...
...and they are more than exhaust.
To truly obtain efficiency, you must tune the system; all of it.
As Goodburbon indicated, how you tune it, just like a Pipe Organs pipes being a different lenght and diameter change the pitch, changing the length and diameter of header pipes changes the torque and HP curves.
A system which is set up to run with a bit of restriction in the exhaust may run lean when unrestricted. Which, for all of us old farts, was the reasoning why converting from single exhaust to duals worked to increase gas milage.
An open header by itself runs like crap, because as 2 posters have indicated, it doesn't scavenge well (one outgoing exhaust pulse, helps clear another cylinder more effectively which allows for more charge to be taken in). You actually have to add pipe to a header to tune it. In most cases, well tuned exhaust system with a muffler will out perform an open header.
The factory makes exhaust systems to fit the application, and to fit the chassis. Are they optimal, well no. Are they better than straight pipes? Most likely, for the application.
For low end torque, you want to slow things up a bit. You want longer intake runners and smaller valves and longer headers to hake torque. At the point where you are making power, exhaust velocity isn't a big concern.
For high end RPMs and HP, you want to speed things up. Shorter intake runners, larger valves, shorter headers, and less, but well tuned exhaust.
The factory is all about overall performance and dealing with the chassis, so they compromise on overall performance and made a vehicle which comes off the line OK for a 4WD, tows OK, and can pass another car at 65mph with a fair bit of margin.
The answer to the Original Posters question is moot.
I believe it was in the 3rd post. "Compared to What?"
IMO, if it feels good to you, fine.
But if your going to throw out ideas like "Open exhaust is better" and "Restriction is bad" be prepared to back it up with 1/4 mile time slips with both top end MPH (HP) and 60' times (Torque). When you spend your time at the track figuring this all out, and compensate for weather and track conditions, I think you will be suprised at how wrong your presumptions and blanket statements are.