Heat shields are your friend. See if you can rig up shielding that mimics how OEM's do it. Space it above the pipe and clamp to it, should radiate heat down fairly well.
I wouldn't suggest wrapping em, their too close to the ground and you will end up with a frayed mess after a year or so of driving.
Alternatively, something like this could work well for you, again with the insulation facing the car.
https://www.summitracing.com/parts/t...4aAtiXEALw_wcB