In a word...no. On the bright side it'll only void the waranty for items directly related to the lift (e.g. if you're air conditioning goes out, it'd still be covered)
Magnuson- Moss Warranty Act-
Basically Your warranty will remain intact (except for the items being replaced) unless it can be proven that your modification/ aftermarket part was the cause for the failure in question.
TTORA forum is the best Toyota off-road club around. We are nation wide with chapters in most states. Come in and discuss Tacoma, 4Runner, Highlander, & TRD models.