You can run them like that, but it will take some work to figure out your routing down the drivers side. IIRC, I was able to make slight bends up and over the cross members using long tubes on my 84 4X4 Pickup, but it is tight. An H-pipe will be better and much easier than an X-pipe on a Bronco with this setup.
You should really consider using shorties, a Y-pipe, a high-flow cat, good muffler and 3" Pipe out the stock location.
If you really want duals, you might also want to consider running the drivers side over next to the passengers side, running them into a small X-pipe, going into some high-flow cats then into your mufflers, then run the passengers side to the stock location and the drivers side back over and out on the drivers side.
You should really consider using shorties, a Y-pipe, a high-flow cat, good muffler and 3" Pipe out the stock location.
If you really want duals, you might also want to consider running the drivers side over next to the passengers side, running them into a small X-pipe, going into some high-flow cats then into your mufflers, then run the passengers side to the stock location and the drivers side back over and out on the drivers side.