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Good friend of mine works for Ford customer service and used to be a manager in warranty. He said it won't void the warranty unless what you did directly breaks something and he wouldn't worry about a 2in lift at all. I just put the Fabtech 2in level kit with shocks on all 4 corners and a 3in spacer in back but removed factory spacer for 1.25in lift total.
Thank you for the info. I also checked with my local ford dealer. There answer was the same they didn't think a 2" lift and 35's. Would void the warranty