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No it won't void your engine warranty.Any warranty dealing with my engine and transmission
One way to avoid the warranty issue is to have a dealer install the MOPAR accessory lift kit for your truck.
Warranty is void on any part you have replaced with an aftermarket or non-OEM part. Also, if that part fails and causes damage to an OEM part, the warranty won't be honored for the OEM part.
Exactly what Maddog said... The only issue there is the major labor cost of having the dealership install it. Pros and cons.... If you want to make sure your factory warranty isn't voided, then go the direction of having the dealership install. If you're just worried about powertrain, then I'd just install it myself or have someone you know do it. Just my .02.
Adam