Its not crap at all. I have had all sorts of cars ranging from high revving S2000s to an E39 V8 M5 and do not feel short changed by the noise. Yeah its fake and not exactly amazing... but would you rather have borderline silence?
Anyway....
Would fitting this foam void a warranty claim? I don't know, but its a 5 min job to remove if needed. My thought process for not going to the dealer is based on the following negative view I have on the world:
I take my car in, say it has a vibration under full throttle and when in sport mode.
The job sheet says "blah blah FULL THROTTLE blah vibration blah blah SPORT MODE"
Jimmy, the 21 year old borderline minimum wage 'technician' who drives a 2004 Peugeot 206, hates his job, has no respect for the job or customer cars gets the sheet. He sees this as a perfect opportunity to get out of the boredom for a bit, so goes on a test drive. Totally abuses the car, probably does not even notice the vibration. Somebody he works with says its probably the sound actuator, so they have a play with that. Test drive again to see if its fixed. Jimmy thinks its fine. I get the car back, minus about 2mm of tread from the front tyres and there is still the vibration. Back to the dealer and the cycle starts again.
I'm sure some dealers are great. But realistically there are also some where my fantasy is actually a reality. So for something like this I prefer to just fix it myself.