Okay, let me try to explain a little bit more clearly. It is
true warranty don't cover your tyres. They may cover the rims
though, if it is stock. If you decide to change to your own
aftermarket rims and tyres, it will not void the warranty in most
cases.
But there is a possibility you might void the warranty because
you change the tyres and rims. It is possible to void the warranty
if the rims you are changing to is out of the safe limit as stated
in the car's manual. Usually the manual will state what's the
biggest rims you can fit. For example: 18-inch, 235mm wide. If you
fit anything bigger than 18-inch and 235mm wide, you might void the
warranty.
Reason being, when you fit rims that are very very big, you risk
adding more stress to the suspension system. So if your car's
suspension system has problems and the aftermarket rims you are
using is out of the safe limit, they might just void your
warranty.
But of course, TS is talking about changing tyres. Let's assume
here TS has absolutely no intention of changing away the stock
rims. Just changing the tyres from, let's say, Yokohama to
Bridgestone won't void the warranty in any way.