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It will probably void coverage on things directly impacted by lifting and big tires. In particular, ball joints on SD are a weak design, and your big tires will increase wear in that area.
It should not void non-related areas. Lot's of dealers install lift kits themselves, so Ford seems to have a reasonable position on them.
If you want more reassurance I suggest your visit whatever Ford dealership you will use for repairs. See how they feel about it since it will largely be their judgement that helps or hurts you.
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