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Nope. Try a search under Magnusson-Moss. In short, to deny a warranty claim, the manufacturer has to show that the aftermarket mod was the direct cause of the defect/failure you're trying to get warranted.
It won't void the entire warranty, just whatever you change. In this case, your exhaust will no longer be covered...
That is correct. It is to the discretion of the Lexus service dept if they will warrant a part that failed due to having a modified exhaust or even work on your car with modified equipment. Even with the Magnusson Moss Act or not.
We have actually installed a Tanabe exhaust, that the customer bought from Steve at Carson Toyota, at work. No worries. IMO, though, this exhaust is not loud enough. Just my $0.02.