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I'm pretty sure that neither would void a warranty if its installed properly. I've never heard of one doing so. For it to be voided I'm sure it would have to be drilled through the bumper or put wholes through the frame, which it wouldn't.
On the roof, you will probably find holes or covers along the weather stripping to put a rack in. Also, installing a hitch is usually easier and less incriminating to the car.
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