Modding your 370Z will not void crap. Replacing the exhaust doesn't void anything. I believe even replacing the cats doesn't void the warranty. Plus, Magnusson-Moss act says that dealer has to prove that failure of the car was performed by the mods. It's only if you touch the motor or transmission, like turbo it, supercharge it, cams, clutch, flywheel, pulleys, etc. that you run a huge risk of warranty issues if the issue is mechanical.
Otherwise, general bolt-ons and a tune won't give you any troubles. You can easily gain 30-40WHP with just bolt ons, and no it won't cost you anywhere near $5K - more like ~$2K. $1000 for exhaust . $200-500 for cat delete (depending on test pipes, HFCs, or ART Pipes), $500 for complete dyno tune, and about $150-450 for intakes (which are worthless on our cars, IMO).
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