I would second Jerry's thoughts on the matter. IMO, it would be much harder for the MOCO to deny warranty coverage because of an exhaust change (which 90% of HD owners do) than it would be if you replace the cams along with it. It just gives them a better excuse for denial.
For me (I have the same bike as you), the Fullsac Stage I with the TTS and canned map is performing to a level that is just fine with me, and most of my travels are two up. Really, the stock setup was not bad, but I wanted to get rid of some of the heat coming off the CAT, plus give the bike a bit more of a HD "sound" without being obnoxiously loud. It also improved the throttle response at low speeds and the general "drivability". A by product of that was a bit more HP/TQ that I can actually feel. It also maintains the stock exhaust "look", which I happen to like. For me, the only way I'll go into the motor is if/when it has to be done because something broke. But, I don't have the funds that some have. I spent all my money on suspension upgrades, which, for me, make the bike more pleasurable and predictable to ride than increasing HP/TQ significantly.
I did basically the same things to the '06 SEUC I owned with the 103" motor and was content with that as well.