Someone please correct me if I'm wrong, but I don't believe hi-flow cats or test pipes automatically legally void an auto warranty. Any aftermarket part has the possibility of voiding your warranty if the part in question directly causes a malfunction. The dealership can refuse to cover the repair under warranty since it was not a stock manufacturer part. Even though test pipes are not road legal (at least here), I don't think that legally voids a warranty for say your clutch, headlights, etc. Like I said, someone feel free to correct me if I'm wrong.
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