Would doing this void any warranty? Thanks
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Not very likely. If the rubber is loose, securing it is just a prudent step to prevent additional damage to the rubber, or damage from water leaks. If you didn't get it fixed, or didn't fix it yourself, and just let it go for a while, you could find yourself in an discussion about whether the subsequent damage is considered a factory defect covered by warranty.
If you find that there's already a lot of damage to the rubber, you could call Heartland Customer Service at 877-262-8032 / 574-262-8030. Have your VIN # ready. They would probably send you a new piece for self-install, or point you to an authorized service location or mobile servicer near your destination. Pictures are always helpful.