I'm pretty sure that both exhaust cans need to be removed in order to service the rear brake, especially if replacing the disc which will require the removal of the rear wheel...
Go to the BMW Motorrad site:
Service/Manuals/Installation Instructions and download the wheel set instructions for your model bike. The accessories installation documentation are actually pretty detailed and complete with torque specifications.
On the base R18 the mufflers are mounted with a clip on the header pipe and on two rubber mounts underneath. The two rubber mounts are on the same bracket. You can either rearwards slide the pot off of the rubbers or take the bracket off.
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