Not in the USA. There are laws at the federal level, meaning you're covered in every state. This would be in addition to any protections in your state's laws. These laws protect owners in such an instance. They'd have to prove whatever you did is the direct cause of whatever problem you are trying to get repaired under warranty. So to say the bike's warranty is void because you put on an exhaust is misguided at best, moronic at worst.
I can see the new Akrapovic system being $10k. If they are going full .... with $7500 for the exhaust, plus install time and taxes, I can see that working out to $10k. There's no way in hell I'd pay that much.
The ONLY reason I have a full exhaust is that I sniped one on eBay for $3350 new in the box. At that price its reasonable for a full titanium system. For $10K....no way. Its a cool product, it sounds slightly better give marginally better performance, but you'd likely notice carbon fiber wheels more or take that $10K and have a hell of a track season(s).