It varies from manufacturer to manufacturer, of course. We'll probably never know since that's a trade secret for each car company. Some have been very forthcoming, such as Nissan (in regards to the GT-R), and said "we can see how many times you use launch control".
OBD2 stuff is sophisticated enough that if you blow the motor, it's going to record the engine speed, throttle angle, and all the sensor data at the moment of explosion. The dealer can see if you missed a shift.
They won't use it to void a warranty, they'll just deny a claim you try to make.