Can modifications by themselves void warranty? No.
But it depends on the mods and what the issue you have that needs warranty work. Your mid-pipe by itself isn't gonna make the motor blow, so they can't deny a motor because of a mid-pipe.
Tuning the car will most certainly void the warranty for most things as it's gonna be very easy to prove adding over 100whp and 150wtq over the stock rated HP caused the failure in Motor, transmission, and other drivetrain components.
If you don't wanna worry about it, don't tune the car. I dunno why people ask this, you accept the risk when modifying the car.
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