First thing to do is make sure all the bolts are tight. Check the bolts holding the rear peg hangers too, as the lower one also holds the rear pipe hanger.
Next, make sure the left side clamp that holds the muffler to the exhaust pipe is set at an angle inward toward the center of the bike about 45 degrees. If it is straight down, the kickstand will hit it.
If all is OK so far, start from the rear and follow the exhaust system forward on both sides (don't forget the crossover pipe under the engine) to see if there is a chance it is contacting the frame or other parts.
Last resort, take each muffler off and give it a good shake. It could be that a baffle is loose (tighten the screw in the side of the pipe) or someone dropped something in the muffler.
I've had Epcos on mine for about a year and a half now and they've been great.
