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For your warranty claim to be denied due to a modification they have to prove that the mod was directly responsible for the failure.
Meaning if you replace your suspension and your motor blows they can not deny the claim on the motor. SO if you have a cat back and your motor blows they can try to deny the claim but it will be tough for them to prove a CBE blew a motor, especially when they sell one.
The pulley is the most dangerous of the mods you said you were considering. It directly affects the motor which gives them the opportunity to blame it for any motor related issues you may have.
Also if you are really worried about warranty you can always buy the TRD stuff. Costs a bit more but is guaranteed not to void your warranty.
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