A dealer cannot simply void a warranty just because an intake is installed. Toyota would first need to prove through a causal analysis that the intake was the root cause of the issue or failure.
@AmbyBomb
The worst-case scenario with an aftermarket intake is that it voids the warranty on the intake itself. It cannot void the warranty on parts downstream in the system, such as the engine, ECU, exhaust, and other related parts.
On the other hand, a tune can void both the ECU and...
A tune can be worth the investment, especially when paired with the benefits of running an intake. However, tuning is only an option for people who are willing to risk voiding their warranty, since a tune leaves a footprint on the ECU even after being flashed back to stock.
In comparison...