You should be asking this question to the Acura dealership you go to because each dealership will give you a different answer. Basically, if your car needs warranty work, they have to prove that it was your modification that caused it. Highly unlikely if you are just putting on an intake and an exhaust.

I've had all my mods for over 3 years now, dealership never gave me a problem.

You might want to wait for the Comptech icebox to come out, it is more quiet than the AEM and it looks very factory like. You might also want to consider in getting the Comptech headers, they give a maximum of 32hp to the wheels and you will feel that power.

By the way, Comptech exhaust sound very nice. Not too loud but has a nice low rumble.