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I made a short DIY post about installing factory BU camera. It's all plug and play, and depending on where you tap the power for the camera (kit comes w/ a pin that you can use to tap the stock harness, which is empty). If any warranty issue arises, simply unplug it if you're worried.
That being said, the dealer would have to prove your mod caused the warranty problem, but getting them at admit it may take time and stress. Returning car to stock before going in for warranty on certain issues is always the best idea, unless you have a good relationship with your dealership.
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