My F-150 was tuned, and had long tubes, exhaust, and intake. The O2 sensors were not tucked behind the heat shield, and the headers burned them out. Ford WARRANTIED both sides, but only one time each. I had to pay for the third one. The tech told me he adjusted the heat shield the third time, and it didn't happen again. So it all depends on the dealer, your relationship with the dealer, and what is broke. It was clear the aftermarket headers caused the O2's to burn out, yet they took care of them, but there was a limit to there generosity. I even took the truck in when there was hesitation pulling away from a stop. I slightly bent the drive shaft doing a little off roading, they warrantied that as well.
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