It's illegal while driving but No it doesn't void the warranty . Your not messing with anything mechanically it's like asking if puting a stick voids the warranty .
In many states, these are illegal. Check first.
Just installing something does not void a warranty, does not matter what state you are in or what you install. Whether they are illegal or not is a different situation.
Why don't you ask others in your ghetto?
I'd like to get the kit for my new Camaro (not now but soon) and I'd like to know if installing it would void the warranty on the car, even if I have it professionally installed.