This is simple. Get on the ground and take a look. If the muffler is there, it didnt fall off. If it is not there ... well .. it fell off.
I suspect more likely your muffler and/or exhaust pipe are rusted through and ready to fall off. Do not operate your car in the routine manner until you get this repaired. It will only annoy the neighbors and could damage your vehicle. There are probably laws where you live that you should also consider.
Get it repaired please.
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