When you say factory warranty, you have to realize that a level affects suspension only. Therefore the only warranty that can be voided (if possible) is suspension components - and front components at that. It is really dealer dependant because some dealers will be sticky and others won't care to put up the fight. My dealer told me there would be no issues with a level, or lift, installed by a reputable garage (which they work with). $150 for the level and $100 labour(I helped the mechanic).
With factory tire size, and a 2.5" rough country level, I've seen about 1L/100k increase which is about 1.35 mpg decrease.
I'd recommend rough country for price, warranty, and quality. There are many other good brands out there which I cannot speak to.