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Only thing it will void is your exhaust warranty. If by full exhaust you also mean long tube headers, you will be in trouble... safest thing to do is stick to a catback. Once you mess with the o2 sensors or cats in any way, dealers will choose to void your warranty. Sure, they have to prove that the warranty issue, if any, was caused by the exhaust, but that means you will have to lawyer up and follow through with a fight to get the warranty work... not worth the time or money in my option.
Only go full exhaust if you want to void the warranty. Catbacks will be ok, I haven't heard of a dealer screw anyone on a warranty claim with just a catback.
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