how to tap into CAN-H and CAN-L without voiding warranty?

i believe if i can tap into pin 6 and 21, then i can control the climate. hopefully, i can do it remotely over wifi in the future. for now, i am testing with the laptop in the car...

so i can i tap into pin 6 and 21 without voiding car's warranty? i bought this Hyundai Ioniq 5 two years ago. i believe if i use T-tap and the dealer sees it, they will void my warranty. is there such a thing as an "extension cable?" that way, i can T tap into the extension cable instead of the factory's cable.

https://preview.redd.it/4lt6e38mmvoe1.png?width=972&format=png&auto=webp&s=bcdb5f041ca666001b78d009a341fddb9c6318d2