YES banks will void your warranty. Banks even tells you to use a "MOD" friendly dealer. Not only is Banks after market parts, it's after Market programming. Ford has built a "black box" into their computers to detect changes made to the programming.
Ford denied MANY warranties related to the 6.0 problems and aftermarket parts. I lemon lawed 2 Ford F350 Super Duties with the dreaded 6.0. During both cases they tried to accuse me of using a programmer on my trucks. Then they tried to blame the engine leaking oil on me changing my own oil and using the wrong oil.
Having a Banks system will give them a easy way out. Wait till the warranty is over then do it. Or you have to pay when you play. The thing you'd probably have a chance at is changing the exhaust system ONLY.
Ford would be silly not to void your warranty. You're changing the vehicle from the way, torque and horsepower it was designed to operate at.
Any fighting you do with them will involve an expensive attorney.
