No. I added a injen CAI to my 04 and just reupped my warranty to 110 ,000 miles.
You have to understand how a warranty work and how much they will try to get out of them. Basically by installing a cold air intake , you are just extending the filters location and giving the air a smoother tube to flow through , not much else. If you think logically about it , thats all there is to it so why would it do anything damaging to the vehicle or effect the direct operation of the vehicle ( which is how voided warranties work ) It won't.
Slap a CAI in there and enjoy but don't expect much , my injen only gave me roughly 4 hp and a lot of engine bay noise.