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yes, slapping on headers and tuning it will void your warranty. however, with OFT, it is easy to flash back and so far i haven't heard of many issues when having to flash back to stock for warranty work. the real pain comes with having to swap back to stock headers when doing that. It's not hard at all but is just a huge pain in the ass. it sounds like headers and a tune will do just what you are looking for.
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