Short answer: No
Middle answer: Depends on what kind of relationship you have with your service advisor / service dept
Long answer: No modification can "void" the warranty of any vehicle. It is required by law for a dealer / make to bear the burden of proof that your "modification" caused whatever failure you're having, and a vehicle warranty cannot be "void" unless the title is branded (rebuilt, total loss, etc). If you install an intake and your transmission breaks, they have no reason to deny that claim. If you install an intake and ingest water through it into the engine, hydro-locking it and causing catastrophic damage. Yes they can deny the claim based on the modification. That is where the middle answer comes into play, if you have a good relationship, a service department MAY overlook modifications and perform warranty work even when the failure was caused by the owner or modification.
I also recommend you keep your stock parts, to use in case you need to visit the dealer for powertrain related warranty.