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Technically, no ECUremap is completely invisible to BMW - but a technician would actually have to actively go looking for a remap to find it. He would have to delve into the actual ECU coding to be able to determine if it had a remap, so in 99% of normal servicing it would be invisible.
If the remap is of the piggyback variety, then it's perfectly visible, and might pose a problem, although BMW by law cannot strip the car of its warranty (it can decide not to warranty any repair work which may occur as a direct result of the remap, but it would have to prove first of all that it was the remap which gave cause for the warranty work in the first place)
DMS is a good company, have been doing remaps for years and in general have been very reliable. As I might have said on another thread, their early maps for 535d were too aggressive and caused some to go into limp mode (was at the Nurburgring though, so a bit extreme conditions) but subsequent remaps have not had this problem. See if you can get a dyno plot of their remap - just having peak numbers is one thing, but seeing how it plays out over the entire rev range is more important.
Compare the DMS dyno plot to the Hartge plot, and see which one looks smoother and most progressive, as this will be the most satisfying to drive in the long term. (Maps with high boost but are a little spiky can be tiring to drive because the rate of acceleration is not as linear and smooth as it should be)
Either way, I don't think you'll find much problem with the DMS or the Hartge.
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