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I’m running a similar exhaust set up and have done the cold start removal as I found it obnoxious.
As far as I know, the cold start sequence is there for emissions to quickly get the material in the catalytic converters up to operating temperature. I don’t think its removal has much of an effect on engine. I can’t really speak to what BMW would say about warranty.
I’ve removed it with the option in Bootmod3 and if you also disable the start up roar, the start up sequence is very quiet and basically indistinguishable from normal idle.
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