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I have never had an issue with that, but then I wouldn't try and claim on warranty if I thought I had caused the fault with a remap.
I have had 20 diesels in the last 12 years and mapped them all, never caused an issue.
The only thing that would stop me is if the insurance was too high because of a map, I was with Swift on my Merc last year and they wouldn't cover me, so waited till I moved in the spring before doing it, but I wouldn't let warranty stop me.
Makes such a huge difference.
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