I was thinking about installing a Pioneer AVIC-Z140BH but not sure since i heard it might void the warranty. Has anyone had this done by Nissan or 3rd party. If so, did it void your warranty? I've tried two nissan dealership and got a different answer from each one so i am not sure what to think.

The only way that it could void warranty is that if the dealership can prove that the MOD caused the issue that needs repair.