We made a few calls to several local car dealers, and the answers we received were pretty much the same: installing a dashcam will not void your car's warranty. Technically, per dealership policies, yes, they could and would void the warranty, but only if they can prove that the need for repairs is directly caused by the dash cam.
But just because they can't void the warranty doesn't mean they won't make it difficult for you. For instance, one of the dealers we spoke to warned that if the car battery dies or if there is a battery drain, they will most likely point out the dash cam first because it is not OEM equipment, and they don't know how the dash cam was installed and whether or not it is contributing to said issue.
A couple of the dealers suggested a simple plug-and-play setup. They reassured us that plugging the dash cam into the cigarette lighter socket using a 12V power cable definitely won't cause any issues because that's what they are there for.
But we all know that a simple 12V plug-and-play will not give you parking mode recording capabilities. What are your options in that case?