When u root u void ur warranty the only thing good for rooting that I have found out is taking screenshots amongst other small things ...too me I haven't found a reason good enough to root my phone yet but that's just me I'm sure other people who have more pros to rooting that I can provide can help u decide
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You don't void your warranty with the cell phone insurance company.
I don't see where people get the idea that their warranty will by voided.
I've claimed insurance on 2 rooted and custom rommed phones.
And the reason you root is the the flexibilty, and for CyanogenMod.