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I installed the Cobb stage 1 with tcm on my 18, and yes it gets rid of the clunky shifting in sports mode that I hated. It really does wake up the truck as well. Very noticible throttle response and smoother shifting in my case. I also added their Red line cold air intake and coolant cover, don’t know if it added any horsepower, but dressed up the engine bay. As far as warranty issues its a risk you take depending on your dealer that you have it serviced, some will be cool about it others might not warranty engine repairs. The Cobb, of the shelf tune is good enough for me for now, might look into goosed tunes If I get bored and want more torque and horsepower.  I also installed Cooler plugs the Motorcraft sp542 plugs since I tuned the vehicle.  Seems to idle better and haven’t had any misfires while idling. You’re also able to disable the auto start stop feature, put truck in valet mode , and anti theft mode with the Cobb tuner. Hope this helps