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All depends on the dealer, you'll hear everything from "My dealer voided my warranty because I painted my brake calipers red" through "I had my engine replaced under warranty and they even re-installed my turbo kit!" (obviously both are exaggerations)
I don't think most are replacing headers for each dealer visit, but if I had a major issue and wanted to get warranty service without hassle, I'd go back to as close to stock specification as possible.
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