You're missing my point entirely.
It's not a question of whether Pioneer or the shop that sold you the drive will discover whether you have violated the terms for using the warranty, but rather that you have violated the terms for a warranty replacement.
If you want to experiment with unofficial firmware on your drive then that's fine, but please take the responsibility for your own actions and don't send it back for a warranty replacement that you have no right to after making such modifications to your drive.
If you want your warranty to stay in effect, you shouldn't make unauthorized modifications to your drive whether physical or with unofficial firmware.
Sorry for the long rant, but I really think people should take responsibility for their actions when making such modifications to their drives.
You can't have your cake and eat it too!