A Businessperson's Guide to Federal Warranty Law
The only way the warranty could be void would be on the parts that were modified or directly affected by the install.
That being said, there are too many horror stories about botched alarm installs to go with the aftermarket... and thinking you can just remove it and take it in for warranty repairs when it gets screwed up is rubbish - one look at a modified wiring harness, and your claim just flew out the window.
The alarm on the smart uses a separate siren for the alarm, instead of the horn. The chirps are 3 medium volume electronic beeps on lock, and 1 each time you press unlock or pop the hatch... it's seriously not that loud.