A system includes a foundation with a post mounted on the foundation top surface and a pipe module configured to couple to the foundation. The pipe module has a yoke to cooperate with the post to engage the pipe module with the foundation. The pipe module is connected to the end of a pipeline and is configured to slide along the foundation responsive to longitudinal and angular movements of the end of the pipeline.
A method includes deploying a foundation subsea and securing the foundation to a seafloor. The foundation has a post. The method includes deploying the pipe module via the pipeline suspended by a pipe module installation machine. The pipe module has a yoke. The method includes engaging the yoke with the post, paying out the pipeline to lower the yoke, and lowering and engaging the pipe module with the foundation.