It should not void your warranty just to add a set of pipes,however you must remember that this is handled by your dealership and unless THEY sell and install them YOU could have a problem if you need their help with warranty work. Most dealers and mechanics I have spoken with recommend waiting until after the break-in period to start making these kind of changes to the bike 1) to give the engine parts a chance to seat at very specific temps 2) to give you a chance to get in-sink with the motors rpm range(while you can still hear it as designed). The engine will run much stronger and won't be so tight when full break-in is completed. This is the way I've always done it!
P.S. I Strongly recommend the V&H Propipe hs Great Sound and Not too loud!
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