When gaskets go missing from exhaust pipes that are bolted together it is usually caused by bolts coming loose. Lock washers could help placed under the nuts prior to tightening. Next make sure that all of the rubber isolators are not ripped or weakened. Pipes can't touch body anywhere but you would hear that. As mentioned by others the exhaust sound must have changed at some point. Lastly if there is damage and the flanges don't fit tightly together then the joint would leak and part of the gasket could blow out. Close inspection might be needed.
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