Saying you are waiting til the warranty expires is like saying the extra powe will defo do your car in! If you want to do it, do it now; either way, you will be screwed! Well, that is IF anything goes wrong. Besides, you won't lose your warranty completely anyway. If the brakes go. or suspension fails, the engine mods wont matter. I got disks done under warranty twice with Tein springs fitted. Also, if it does happen to go belly up and as long as you keep your standard bits, you can revert your car back and try your luck. Not that I'd advocate dishonesty, but some people might feel OK about doing that sort of thing. When my piston went, I reverted it back and had it tested under warranty, but the analysis showed up nothing. I then got a compression test done independently which pointed to a damaged piston and at that point I stopped pursuing the warranty as it was most likely my doing.
Go for it and worry about it later, nothing ventured, nothing gained and faint heart never won sh!t!!! Haha!