honestly a lot is pending on dealership. And well there are laws they need to prove and this and that...
you can lower the car, but if something rattles then thats on you and the same goes as to any and all mods.
what a lot of companies are doing is making their own line of mods. TRD, SPT, mopar, GM performace. They do offer a far amount of stuff that will keep your warranty 100%. These are on the more tuner popular cars. Like you can put a TRD supercharger on a scion TC and still be in warranty, if its installed by the dealer. SPT is subaru brand.. they have a couple of stuff for the legacy GT and i'm sure STI/wrx.
But everything is all pending dealerships and problems you have with it...a lot of dealerships are very friendly with car tuners...but they have a great relationship with teh dealer and service guys.