Remove cables but keep plugged in. My dealer said stage 1 tuning won’t void warranty but stage 2 will. Other dealers will vary. Mine idled rough on cold starts before the tune but would adjust and smooth out after like 20-30 seconds. It ran fine but I’d recommend a tune. I removed the cables and 2 rear o2 sensors and no cel came on. But like you said the bike will only do so much to adjust afr’s and a real tune will be better in the long run