Warranty is transferable but the maintenance is not, imported my car here so I know.
Intake and exhaust shouldn't cause problems when going to dealer for work to be done. It is their job to prove the modified part caused the problem. Some law about it.
I'd call up BMW and ask personally if it voids the warranty but my first guess is no. Software is more likely to void than exhaust/intake.
Don't need to take it to BMW to get certified, costs I think 3-4K for the extended warranty which is hardly worth it. Best of luck.
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