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Warranties don't get voided. However, if your aftermarket part causes a warrantied item to fail, your warranty will not cover it.
The item you're looking for is the BCM or BCU. Disconnect the battery before you start any wiring project, and make sure you've correctly grounded whatever you're installing before plugging the battery back in. A lot of these BCM/BCU failures are caused by short circuits frying the BCM, and people cutting corners by not disconnecting their battery first. So yeah, if you roll into the dealership with aftermarket lighting and a fried BCM, of course they're going to deny warranty coverage for that replacement.
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