No, it will not void your warranty.
most things yo do to your truck, adding aftermarket products, will not void your warranty.
Not all of them, however. Tuners, for one, can void your warranty if dealer suspects it is the Root Cause for the problem.
That said, any dealer cna deny anything, for any or no reason and you must then take it up, to go beyond the point of simple acceptance. By adding anything aftermarket, you are giving teh dealer a potential point of denial. However, every dealer knows that whatever excuse he does give, must, in fact, pass the smell test, when in front of a judge, even a small claims loss court.
For this reason, most dealerships service dept do not even bother trying to void warranties for anything other than good cause. Not to say some have not. there are some increbily stupid in this world. Most., though, do have a modicom of intellgience.