So my 1974 s2 xj6 has a problem where it seems that the whole exhaust system has shifted to the left and due to this the rear right side Over axle bend that’s just before the tail muffler if making contact with the axle cup and is making a rubbing noise while driving.

does anyone know how or what I should do

 

I suggest you dismantle the whole exhaust system and reposition them as originally fixed and designed to be.

 

I'd begin by inspecting for any broken exhaust hangers. In particular, the two hangers directly above the over-axle bends

Cheers
DD