I would love to say it is 100% that it will not void your warranty...but guarantees like that don't happen in our day and age.
Could it void it, yes, if the dealer is a twit about it. Will the most likely, No. I have never owned a vehicle that was not tuned. I have never had issue getting warranty work done either.
The BoostMax or signal changing types of tuners are not immune to that. You can argue that you did not change the program, but you did install a non Ford device between the sensors and the ECM to affect total Boost. That change can be seen. Edge tuners back in the day for the diesels, I experimented with and I showed where you could see the sensor data that showed it was there, after it was removed, so did others.
I always use the adage, "Pay to play". You take the risk. I personally think it is worth it. They would have a fight on their hands though to prove to me the Tuner caused the issue.
With that said, I think this Motor has WAY more to give than what the Hypertech is pulling from it. I just wanted a little more power and slightly better shifting. The added benefit of the Tire Size adjustment, and TPMS adjustment sold it for me. Once I put the 3/2 on and larger tires it will be easy to adjust for them.
On my Edge Sport with the LMS programmer and the Aggressive 93 tune, I am looking to push the limits, but not on the Family hauler.