I too would be careful.
I wanted to do the same thing as the OP. Figured I would do the right thing and talk to the dealer for advice as I heard the same warnings. Talked with the gentleman at the service desk and he showed me some nice racks I could use, I specifically tell him my concerns as I don't want to void warranty, he says it's no problem at all tons of people do it. I'm still leary but start to look at some of the options. Then a person from the dealership that I've worked with before comes over and asks me the normal how are you questions and what are we doing for you today. So I explain to him what I'm looking at, he drops his glasses looking down the brim of his nose and states he won't even do that work in his shop and cites the same reason that I had worried about. So I nod at his co-worker and leave it at that, the look on his co-workers face was enough to tell me he learned his lesson.
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