Did you replace the oil filter as well? Many vehicles will take a little less because there is oil still trapped in places where it would take a long time to drain from. Give it a day or two and recheck your levels and you should be okay.
I work for a ford dealer, and NO, you do not void any warranty by changing your oil any more than recommended. However, keep good records in your book detailed as to the type of oil used, the date, and where it was done or If you do it yourself. also note when you change your filter too.
have a great day!
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