SSR sells exactly the same midpipes (length, shape and mounts) for both RWD and AWD. They include an additional adapter bracket for the AWD cars, to connect the mounting plate on the pipes to the revised AWD mounting location on the car.
The length of the pipes, and relative flange locations, is obviously the same on both cars. I can't say that there aren't any difference in the pipe contours, for manufacturers who supply both - obviously they would have different mounting plates welded to them. It does seem unlikely that they would have different forms/shapes for the pipes themselves, when it's not needed.