They still need to provide proof that the modification has caused failure of the part under warranty, it all depends on the dealership I find and who you deal with , but if one is worried about warranty I say don't mod the vehicle.An exhaust could be enough grounds for a claim denial. Especially if we are talking something like a turbo back exhaust which reduces back pressure and thus changes the dynamics of the turbocharger. One could potentially make that claim even with a catback exhaust.
Act language
The performance of the duties under subsection (a) shall not be required of the warrantor if he can show that the defect, malfunction, or failure of any warranted consumer product to conform with a written warranty,
Maverick Warranty Guide
"Damage Caused by Alteration or Modification The New Vehicle Limited Warranty does not cover any damage caused by: • alterations or modifications of the vehicle, including the body, chassis, electronics or their components, after the vehicle leaves the control of Ford Motor Company"
Right there, you are not conforming to a written warranty when you alter your vehicle. Because Ford says damage caused by alteration or modification of the vehicle.
Let us have an analogy. So say you install a turboback exhaust and after 1k miles you spin a bearing. Your engine is done. A $7000 repair. That will require the dealership to get approval from Ford HQ. And dealership will probably not an aftermarket exhaust. And then the claim will be denied. They do not have to show proof to deny a claim. You can then ask and they they will write why you were denied. And someone will draft you up a very nice, legal response why you were denied a claim.
You can sue, maybe go to arbitration or something, they have good engineers and lawyers to explain why a turboback exhaust will decrease turbo response time, to an extent the ECU cannot compensate by limiting load by say closing the throttle or increasing waste gate duty cycle, quickly enough. And that increased load is beyond factory limits leading to increased load on the oil film between the crank and rod bearing for which it was not designed for. You the consumer do not have the resources, nor are you very smart, and the denial in your claim is upheld.
I've modified cars, I've made factory cars run low 11's. If you want to modify, you need to know that modification can absolutely result in a claim denial especially if there is a pretty clear dependency on the modification leading to increased stress on whatever broke.
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