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I have a Phantom ESC, Open Flash Header, Manzo Cat Back, lowering springs, and OFT tune and don't even try to hide anything from the Dealer.
I've had service done 3 times including a new transmission under warranty and no one has ever given me a problem. The service manager even told me he thinks the ESC is really cool.
I think that the FR-S is rare enough, at least at my dealership, that most of the techs don't even know what it's supposed to look like under the hood.
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