Anyone who has ever driven by a running irrigation pump at night can tell you glowing exhausts is nothing to worry about. Think about it this way, typical exhaust temperatures run around 1100-1200 degrees. Steel begins to soften at 1700 and, it starts to glow long before it fails. It may be a little unusual for an idling engine to have glowing manifolds but if you had been up to speed shortly before that it's probably nothing to worry about.
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