I have checked with the dealer. They said follow your owners manual and you will not void the warranty. My owners manual states on page 7-35: Remove the drain plug. After oil is drained,install new washer on the plug and install. Lower vehichle. Remove dipstick add approximately 2 US qts. Check fluid and add as necessary. It does not contain the word flush or service anywhere in the procedure. Mind you this is for "severe" service. Under "normal" you only inspect and add as necessary. If you have to add then you need to get it back to the dealer for a check up. Tranny fluid should not be going anywhere. I happen to fall under their definition of "normal". I aggree with you that Flushing is the best way to get all the fluid out but I was also told that it could dislodge small particles that could plug the very small passages in the shifter body.
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