There is only one way a dealer can void your warranty. That is if they can prove your modification caused the failure. Swapping out wheels, tires, exhaust, etc is not going to ruin your warranty of your ENTIRE car, its not even legal to make that claim.
Now, a CAM job or other internals or S/C, that will be very easy for them to "prove" when you start having seal leaks, etc.
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