that kit you found on summit looks pretty close to our set up with it exiting in front of the wheels, make sure that is ok with your state. I don't believe 77 G20's had a catalytic convertor (78 G20 did not) so you should be good there. We added an H pipe right after the headers which connects the right and left pipes. We got that setup from summit too.
With that complete kit, the hardest part will be removing the old system and installing the headers, the rest should be easy.