Many threads on this, but again: tune (or the TD1 flag, that comes from the computer detecting a tune) will not void your whole warranty. It will potentially (maybe even "probably") make them decline warranty claims that they believe are related - e.g. powertrain issues, on a case by case basis. It doesn't void your warranty for things like power locks or the radio not working.
Officially an intake, exhaust or short-shifter can have the same effect. Someone had posted the official internal Audi document here a while ago. The computer can't detect these, but an evil/overzealous dealer tech can manually enter the flag. So your dealer might say they are ok with it, but in the rare case that you make a warranty claim and the regional rep (or whatever) looks at it when someone forgot to clean up all evidence of a mod, it "could" be an issue for you and the dealer.
In real life, once you're sure your car isn't a lemon, just go for it and enjoy your car :)
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