Any aftermarket add is subject to warranty issues. These are subjective calls of a dealership mechanic, service manager and warranty administrator.
In most cases CAI and Exhaust changes are not a warranty voiding matter. However, neither of these two items will benefit you performance wise either alone or together....other than giving you more noise.
If you want to be super safe install only Ford Performance Parts as these to retain the factory warranty on your car...at least for the 36 month/36,000 mile bumper to bumper warranty. However some if not all of these parts need to be installed by a dealership or certified mechanic.