I doubt it would void the warranty if the dealer does the work, that's poroviding they can find new gears in a ratio of your choice (perhaps from another dak (3.92s?). They won't install used parts and keep the trucks warranty intact. Chances of a rear end causing any problems, even over the course of the warranty is nearly non-existent. I'd wait until after the warranty before changing them as well..and go for some 4.10's or perhaps 4.56's. When my warranty is done, providing I have the necessary funds saved up, I plan to upgrade to 4.56's for both axles, but that's two years away for me.
I'm content with the 3.92 axle on the durango, especially when towing. I owned a GM C1500 (5.0L V8) with 3.55's, and it was adequate for most duties, especially for passing ricers!