I just purchased and installed the Givi's last week (so I'm assuming they're a relatively new set from the factory) on my 2021 BS6. I had to loosen, but not remove completely, the exhaust pipe. Just had to tweak the pipe out enough to get the bolt started, but not too big a deal.
I also suggest chasing the threads in the 'thru tube' before you do the assembly. Mine had paint/powder coat built up the threads. I just clamped it up in a vise with soft jaws and ran the bolt in both sides a couple of times. Once the bolt will go in easily, the assembly on the bike goes much more smoothly.
Other than that they fit and look great.