Theoretically, all of those should be warranty safe. The UDP and the cam gears might be "less safe" than the intake and exhaust.
In the case of the UDP, say that if for some reason after you install the UDP your water pump fails, there's a good chance your Ford dealer will blame the UDP. If you take that one step further, and as a result of your water pump failing, and you keep driving down the road and fry somthing inside the engine as result, the Ford dealer will do their best to blame the UDP....
In respect to the cam gears, say you screw something up installing them, good luck getting Ford to fix it under warranty.
Exhaust would be real hard to blame any sort of powertrain and/or drivetrain failure. Intake as well, as long as you don't loose your filter somewhere along the way and suck up a rock or something.
Basically, if something inside your engine fails, it's on Ford to prove that an aftermarket product caused the failure. If you have a "mod friendly" dealer, you should be fine. If they are not so friendly, they will do everything they can to blame anything on the owner.
Just be sure that if you are doing a mod yourself, you know what you are doing. If not, find a mechanic you can trust.