I was told by my dealer that as long as it is Ford parts and there is a record of them (Dealer) doing the install it would not void my warranty.
I was once told that it is up to each individual dealer as to how warranties are honored, I guess that proves it.
1989 Blue LX Hatchback
2001 Red SVT Cobra Convertible (Phoenix)
2002 Black/Red GT (Ginger)
2011 Red Candy Metallic V6 (Manfred)
2016 Magnetic Metallic GT (Susie II)