No, but it will void the suspension warranty that it interacts with and probably what the OP wants to avoid as a precaution. Ball joints, a-arms, CV joints, tie rods, etc. If you go larger and heavier on tires or offset the rims it can also void the wheel bearing warranty. So no, it won't void your vehicles warranty, just parts it interacts with. They have bulletins out to their techs specifically looking out for pucks, spacers, lifts, etc and what the vehicle is in for warranty work. They don't want to pay if something the owner did broke and nor should they, it will just be denied...
Tyler