Yes and no!
This will all depend in your dealer or surrounding dealers.
If it voids you warranty, it won't and shouldn't be for the entire truck. Just lift related parts.
Again, check with your dealer.
My lift did not void anything
I would not let a dealer install a lift on my truck, they charge way to much and you can get the exact same thing if not better for generally $1000-$2000 less at a shop that specializes in lifts and truck performance. My lift did not void any of my warranty except for the parts that were replaced when i did the lift which is normal, If you install a Cold Air Intake from K&N the dealer is not going to warranty that part... same thing applies to lifts.
When you decide what lift to go with reach out to me via PM here on the Z, call toll free at 855-432-3278, send me a text @ 816-686-2176, or chat with me @ DiscountAuto Performance.com I would be more than happy to get you the best deal available on whatever lift you decide to go with, and we always offer free shipping!