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Check out the Hypertech pocket tuner. It removes the 0-60mph throttle restriction. That alone is a huge deal for this car. Sure, you won't get gains as substantial as a custom UpRev tune (which can cost quite a bit more), but with this thing, you have a physical product in your hands, and you can return to stock whenever you'd like.. but you won't want to.
+1 bought 25 shares at $95 last yr and sold earlier this yr at 260 before it dropped to 225.. shoulda kept it. It's over $300 now. But what can i say, it was a great return!
Technically, any kind of modification can void your warranty, but in the end it depends on the dealership. General rule of thumb is to put the car back to stock if you're planning to make a warranty claim. Just go to your infiniti dealer and ask the service manager this same question, I'm sure he/she will tell you what they tolerate and what they don't.