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A matter of law. In US, warranties cannot be 'voided' by the manufacturer (Magnuson-Moss Warranty Act). But a manufacturer can always disallow a claim if a non-standard installation can be shown to have caused the damage that was repaired. The dealer would be the one to start the denial process. After that, it's a matter of claim, arbitration, and perhaps a court case should you decide to fight the denial.
Will an after-market exhaust system cause engine damage? Probably not. It gets dicier with tuning chips and other mods that leave fingerprints all over the ECU. And which may indeed cause harm sooner or later.
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