My dealer said anything you touch on the exhaust won't be warrantied, which makes sense of course, they won't warranty something you modified. But it won't effect the rest of the warranty, like say your drivetrain, electronics, etc.
The only thing he told me was don't mess with the catalytic converter, if you weld anything directly to it, the warranty on the converter will be voided since they can't change them out by simply unbolting.
If you change your muffler, make sure to keep the original one in case you want to weld it back in the future for whatever reason.
It's hard to make a recommendation on the best muffler. There are too many out there and everyone has different ideas of what "loud" and "drone" is. I will say personally, I had a Flowmaster Outlaw welded in for $278 by my local muffler shop. It sounds like a 60s muscle car, no drone at constant throttle, love it.