Many owners do wait until after the warranty period is over to alter anything engine related.Nobody would wait until the 12 month warranty is up?
But if the installation of a Thermo-Bob is going to help with longevity or reduce the possibility of oil consumption it is best to improve the system as soon as possible.
Get the Entire engine as fully warmed-up as possible, as quickly as possible, not just the the Too Cool of oem thermostat (160F). 190-230F engine temp dries the cold start condensation from the engine quicker & more completely.
Modern engine oils lubricate best at these higher temps and the KLR crankcase is One Giant Oil Cooler, especially in ambient temps below 70F.
As long as a Thermo-Bob installation is performed properly/correctly, it will not void the factory warranty.