Although the exhaust can get quite hot I find that the only time it becomes a problem is when the bike is stationary like at traffic lights etc if I put both feet down.
I now stop with my left foot down and my right leg as far away from the exhaust as possible. Doing this the heat is not a problem for me although I'll probably investigate having it de-catted one the warranty runs out.
Interestingly I was talking about the heat to one of the reps on the Triumph stand at the Bike show in Birmingham and he recommended getting rid of the cat although he wouldn't answer my subsequent warranty question!
Although emissions are not tested in the MOT at present in the UK they could well be in the future and I suspect that if this happens any bike that was originally fitted with a cat would have to comply or fail. A new header pipe with cat is over £1000!
Alternatively there is always this:-
https://www.freespiritsparts.com/en/h-pipe-de-cat-for-triumph-scrambler-1200.html
Mike