A turbo or nitrous would void the warranty but give the highest gain. CAI and exhaust upgrade would probably be your best bet since some dealerships won't mind the addons and all dealerships would have to prove that the addons caused the fault if one occurs in order to not be covered by the warranty. Probably only looking at 20 to 30 HP gain by doing the CAI and exhaust though. ECU tuning is another mod to look at.