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I'm with you afboone88. I also have a SP Diesel exhaust brake and love it. Never had any problems with it, works exactly as they said it would!!! Sean is very helpful if you have any install questions or problems, it doesn't matter if you're new to modifications or experienced, he'll help you.
As far as the Ford warranty goes, is there really anyone one this site that hasn't done some type of modification that runs the risk of "voiding" their warranty? It's really up to your dealer. A relative of mine purchased a SCMT from the dealer and the dealer installed it on his 2004 6.0L F-350. It really seems to depend on the relationship you have with the dealer.
Back to SP Diesel's exhaust brake. Mine also has the TC lock up controller in it. One of the coolest features is that you can program when it locks and unlocks. You program it through the cruise control on the steering wheel. Once it's programmed, you can forget about it or make adjustments as you see fit. Really is an awesome feature.
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I'll back up DavePSD and afboone88's experiences 100%.
I also have the same setup as DavePSD on our 2001 7.3L Excursion Limited with auto trans and if I felt the exhaust brake did any damage to the engine I just wouldn't have it on my truck. I tow a 31 foot Dutchmen 10,000lb. bunkhouse travel trailer with mine and I'm extremely pleased with the additional braking.