Have that exact setup on my limited, and I'm pretty sure that the monster ovals will not fit on your bike with the extended bags. I'll see if I can dig up a picture and attach.
While I'm looking, I should take a moment to give you a heads up. Depending on what tuning solution you are going to use in the long run, it would be worth knowing that they changed the o2 sensor size and location on the '10+ touring models. They went from 18mm to 12mm heated sensors and relocated them from up the pipe to about midway. This is really only useful if your going to be using any of the solutions that use wide band o2 sensors which are still 18mm and work best installed in the old locations (ThunderMax, PCV w/ Autotune, etc.)
If your going to just swap pipes and use the current ECM and stock o2 sensors and the Fuelpack, or a open loop tuning system, then no issues using the newer version of the pipe. If you haven't thought about a tuning solution for the long term, and plan on adding something different later, be worth getting an idea which way your leaning and grab the pipe that will save you time and money later.
The '09 version of the pipe comes with the 18mm in the old locations and will fit on your bike should you need that setup.
And now for that pic I just found off the easy rider's thread - best I could get to show the clearance requirements. Bikes in the shop so I can't grab a new pic. I cropped and blew it up a bit, so it got grainy; however, shows the monster ovals on the right, a RG with the extended bags on the left, and I think that's a SG up in the front with extended bags as well.
Good luck with the upgrades.

Edit: To answer your last question, my dealer installed them while working on some other stuff and it did not affect my warranty. MWV with different dealers, best to just check with them.