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I work at a nissan dealership... test pipe wont "void" powetrain warranty, just if your trying to get away with stuff then put cats back on... test pipes prevent pre-catalyst being sucked in and making lapping compound out or your oil... not common but have seen it happen in Zs and Gs... most common altima 2.5 recall
From what the service writer told me at the dealership, is that nothing aftermarket will void your warranty as long as it's not the cause of failure... So if you have an intake and your transmission goes... It's not going to void warranty... Plus, by law, they have to prove that the part caused the damage!