G'day & Welcome aboard @vnhan - have a look around this section of the forum and you'll find lots of info on lifts.
I'm forgetting the exact law, but someone will chime in here, but the short answer is no. Just simply installing the aftermarket parts can not inherently void your warranty. But if you have some sort of suspension failure prior to your warranty running out, it's on Subaru to prove that the aftermarket parts were the cause of the failure. It seems like many legal things, there is a good measure of gray area here. I think the biggest thing would probably to go with a reputable aftermarket company with lots of years of lifting these under their belt.Does installing bigger tires &/or a lift void the car's warranty?