I did read through the ESP terms and conditions and it says, “IF” the failure is caused by. . . They do have to prove that it caused the failure, however, it’s not hard for them to link a mod to the failure and then it’s up to you to prove them wrong. Good luck with that! Attorney fees alone will cost more than just paying to have it fixed. Say your differential fails and you have a brace on it. The dealer calls Ford, sends them pics, Ford denies warranty coverage and says the vehicle was modified to operate outside its normal limitations. Now it’s up to you to prove they are wrong. Court costs, attorney fees and months without the vehicle! And, you likely will not win because a lot of these mods, especially tunes, say “For off-road use only”. The best approach is to try to have a good relationship with your dealer and be ready to pay out-of-pocket for repairs.