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I went to my dealer and talked to the parts/shop manager to ask him this very same question, will putting tein s-techs on my car void the warranty, to which he replied, YES. According to toyoda, yes, putting them on the car will void the warranty. He said he's already beginning to see problems with the cars that people have put lower springs on like the s-techs, brushings wearing out, tires wearing out faster. He said that he doesnt care if I put them on my car, just as long as I dont try to come into the shop in 6 months and get them to replace parts of my suspention that are wearing out. So, I'm sticking with the TRD springs, putting some 18's on the car will fill out the wheel well nicely, and make for an agressive look that isnt going to void my warranty.
when you lower your car it's going to put added stress on all the other suspension parts that weren't made to exist with the drop springs. so if your cv boots tear or your tires wear more on the inside cause of a change in camber, don't expect the dealer to help you.
however, the springs aren't going to void your warranty entirely. if your CEL comes on and all you got is springs, you can still take it to the dealer to be checked out. the springs are only going to hurt the other suspension parts.
and for more info, fish around the board. there was some legal "act" that came about which put the burden of proof on the dealer. meaning if you modded your car the dealer has to prove the mod(s) you have caused the problem in which you're trying to have covered by the warranty.
What about sway bars? Sway bars are part of the suspension, but they won't effect camber, and I wouldnt' think they would effect the shocks or dampers or anything. So do you think non TRD sway bars, like the Hotchkis, would hurt the warantee?