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Purchase aftermarket programmer (source: internet) remove program before visiting the dealership.
These threads are everywhere LOL.
Magnuss Moss Act is what you can reference for MOD and Warranty.
As mentioned in this thread, it is up to the dealer to prove that the mods you did voided warranty**
With that said it comes down to how much are you willing to fight with the dealer if you are put into a warranty situation.
The fundamental answer though is NO modding does not void warranty despite what the dealer will tell you.
LOL Good luck fighting Ford and the dealer,its simple MOD and risk Voiding the Warranty ,seen it happen too many times,we are a mod shop and all my customers are told up front and in writing that its not my fault if you have no warranty.
Like previously stated, it's NOT voided. You were just denied a claim. If your SYNC radio goes out and you have a catback exhaust, they still have to fix your radio. You still have a warranty, but your engine/exhaust warranty requests have been denied.
There is a huge difference between "void" and "denied".
Edit: Better example.