If you have an OEM exhaust on and your riding in africa the first thing will probablt be to get rid of the cat if you have one (normally part opf the can), it will be knackered pretty quick anyway so is just dead weight.
Any more open exhaust should improve your HP but you will have to adjust the jetting to get the best out of it, and also to make sure that you don't kill your engine by running it too hot or filling it with carbon deposits.
Ideally jetting is done with a dyno so that you can tune it for max power etc, but you can get some idea about whether it is running rich/lean from noise, smell and riding it - of course you have to know what you are listening/smelling/feeling for which means knowing your bike well
A good way to check burn is to get a colour tune plug - this lets you sort of watch what is happening during detonation and adjust until it is the correct colour flame.
Dynojet kits are available for most bikes/carbs-they should be able to recommend the right size jets according to your bike, exhaust and airbox setup (you might want to open the airbox if you are after maximum HP, but it might be a good idea to avoid this if you are riding in a lot of dust/sand)
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