The forum behavior with respect to preserving the warranty while heavily altering the OEM car has gotten increasingly irrational. Your personal concern for sanctity of warranty on a Stage 3, 10 second 1/4 mile thread is not the group's concern. Either you're going to do these mods and own the consequences (I've had none), or you are going to live like an oppressed person in a free country because you're worried about a contract that you don't even need to exercise. If nothing goes wrong in the first year of ownership, you are statistically unlikely to have any warranty-covered issues in the proceeding 3 years and 38,000 miles.
People often confound warranty work with service - you are always eligible to receive scheduled maintenance in the AudiCare plan or on a pay as you go basis. You're allowed to change the tires and still receive a tire rotation. You're allowed to add an exhaust and still get the airbag sensor replaced under warranty. You're allowed to get coilovers and get your seat motor replaced if it fails. You're allowed to get APR Stage 1 software and still receive scheduled oil changes. You can even do all your service at an independent and highly competent German auto shop, which has very tool and computer needed to service your Audi (save your receipts and bills of work).
This is no longer a new car forum as the B8 is getting quite old. Some portion of the audience has a 4 year old car and is out of warranty. Many of you are over 50,000 miles well before 3 years. None of you need worry about warranty. If you've got a brand new 2014 you probably need a year or two just to get used to the speed of the car. After that you might get bored and want to increase the power slightly, to stay competitive with higher powered lighter models coming out from BMW, MB and Audi.
About the worst thing I can think of is a sports differential failure, at a cost of $7000. For people who don't use it, you can probably drive without the wizardry. I think I'd search for a sport diff from a junkyard if I needed a part that expensive. Plenty of east coast S4's sitting in salvage yards now thanks to old man winter and OEM Continental Sport summer tires.
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