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The R56 does not have any exhaust hangar provisions on the left hand side of the car under the boot floor like the R53 does. The quick answer for you would be "no, it won't come close to being a bolt-on".
My next question would be: why would you want to saddle your R56 Cooper with an R53 stock exhaust that is heavy as sin and sounds horribly tinny?
No but you can fit an R56 "MCS" exhaust to a MC. its a quick simple bolt on as a mate has done it but with a 2.25 inch bore it clearly robs it of power due to the extra back pressure. Looks cool though .