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Generally speaking, yes it's safe, but as with anything in life there is some risk. If you were to code and have the process fail because of a connection issue or something there is a chance you would need to visit the dealer for an istep update to overwrite any bugs in the car's code. This has happened to me once, they gave me a slap on the wrist and updated my car for free and just said if it happened again they'd charge me $150. Nothing mentioned about the warranty so in my experience coding is a non-issue. My dealer is aware of all my mods but every dealer is different and some people may consider coding to be a breach of warranty. As far as enforcing that, I have no idea if they can. Worst case scenario you could always go to a third-party shop or a coder that knows what they're doing if you encountered an issue and needed an update, it doesn't have to be a dealership.
Long story short: You can/should use it in my opinion. It has some great features. I've only had one hiccup in 4 years and have coded a ton of things that make the car better/easier to live with.
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