All motors run a little different from one another and a dyno tune allows you to accurately set your VE tables to your specific motor. A canned calibration is a good start point, but all motors can benefit from a good tune. With a SKILLED tuner, you will likely experience better ridability across the entire performance range.
Any cam change will technically void your warranty for any related problems. A local dealer will likely honor your warranty if he installs a different SE cam, but other dealers are not required to honor it. Having said that, I personally wouldn't let any dealer in my vicinity work on my bike. There are some talented dealer mechanics out there, but they are few and far between so beware. If you are set on a SE cam, the 251 will likely give you what you are looking for in the mid-range with minimal low end trade off.