That second part is the main one.... "and causes a failure". So the dealership has to show it caused it. I mean, if you have a crappy dealer who is desperate for chargable hours, then you're gonna probably get pinged.I called Ford ESP too. After being transfered 3 times, I reached the claims department (as if I were making a claim on the truck warranty). They said that the tune is considered "aftermarket" since it did not ship with that tune from factory. There is a statement in the warranty paperwork that says ANY aftermarket part that adds power, and causes a failure, will not be covered. So the response I received was pretty much "it might void your powertrain ESP coverage".