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Well, they can hardly even tell if you don't flash to stock. They can't see that you have been tuned - they can only tell if the ECU has been modified, but they wouldn't know WHAT has been modified. Even then, it requires a special tune and special knowledge. I've yet to hear anyone have a flash detected. Doesn't mean it hasn't happened, but I haven't seen it reported on any Evo site.
Then, if you flash back to stock, then there is no change - it's just the stock map. They wouldn't know the difference. If you're that worried about your warranty, though, you shouldn't do a single mod.
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11.51@117.72 - PMI
11.62@116.60 - Bandi
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