The risks of adding the hi-flow a/c and less restrictive mufflers without altering the air fuel mixtures pre-programmed by HD in the ECM is even more heat for you (since leaning the a/f mixture will increase engine heat) which may lead to reduced engine life and a potential warranty dispute should you have an engine problem in the future. HD requires adjusting the afr when installing the heavy breather air cleaner kit, for example. Fuel serves to cool the cylinder heads, and leaning the mixture (which is what happens when you increase air flow without an equivalent increase in fuel) by increasing the air through the motor with a hi-flow a/c and less restrictive mufflers, will increase engine heat.
The "may void the warranty" concern is not a problem when the air fuel mixture is changed by a competent tuner. There are a variety of products which can change the air fuel mixture pre-programmed by HD in the bike's ECM, and these products allow the mixture to be changed in ways that will lead to engine damage in the hands of incompetent persons. So it makes sense that HD can deny a warranty or declare a repair under an Extended Service Plan as not covered in those situations.
Proper use and maintenance of the motorcycle requires that the air fuel mixture be changed to accommodate the engine's increased air flow resulting from the mods you contemplate. Not changing the mixture simply means that the harm being done will be influenced by the load placed on the engine and riding environment (riding two-up loaded with stuff, lots of low speed urban/suburban riding, high ambient air temps, etc.).
Find a competent tuner and let him tune the bike with the PCIII (if you have one) or buy the SEST or TTS and get a comprehensive dyno tune for your own peace of mind and a cooler running engine.