There is a great performance shop in Shelby township called Trucks R Us!! They might be CPC now because they sold part of the business.
No aftermarket part or accessory that is properly installed on your vehicle will void your original vehicle manufacturers warranty. According to the provisions in the Magnuson-Moss Warranty - Federal Trade Commission Improvement Act, It is the dealership's responsibility to prove that your modification directly caused or affected the failure you are trying to resolve. So don't worry about your warranty.