Don't know how it could. Its downstream of anything emissions related so can't contribute to - or be blamed for - any failures that may occur there. The only thing it changes is the restriction (back pressure) imposed on the engine, but that's for the better.
The Magnuson–Moss Warranty Act gets cited a lot on forums because a dealer is supposed to be able to show how a modification caused, or contributed to, the failure at hand. E.g. a muffler cannot be reasonably assumed to have caused a ball joint failure. I've never actually read of someone who had to reference that law at a dealership, or go to court, but that doesn't mean it hasn't occurred.
In short: I cannot say that it will not cause any warranty issues. I'm willing to take my chances that a dealer will not be able to somehow link a gas engine failure to a less restrictive exhaust system. Life's too short. I don't want to wait 3 years to mod a truck the way I want in fear of voiding a warranty.