I bought a brand new 2014 Ford F-150 last year, it had exactly 360 miles on it when I had ETI mount the hitch (actually a company up the road from ETI). I had already spoken to the Ford dealer, they knew why I was buying the truck and what I was going to be towing. It did not nor will not void the warranty.
The pin box for the fifth wheel is adjustable and so is the hitch itself. Even though I own a 5.0TA, I have a good foot of clearance between the loft and the bedrails and my truck is a 4x4.
You may get more and better answers to your questions on the EscapeForum about your concerns as there are more owners there.
AND, if you want a similar layout to the 5.0TA, it's the 21' you should look at...
Best of luck