Adding in support for AirPlay to an app and selling that won't void your or my iPhone's Warranty if we were to install it, but it can void the contract put in place between Rogue Amoeba and Apple, if even just for that singular app. Here is the real reason Apple threw this app out of the store: http://news.ycombinator.com/item?id=4087666 RA was using a private key derived from a firmware update for the Apple Airport Basestations in order to encrypt the audio stream in accordance of the AirPlay protocol.
Want a custom stereo in your new car with a fancy center stack setup with a non-standard-size stereo and possibly even integrated AC/heater controls? You're going to have to jump through a lot of hoops. Want software with more functionality than Apple exposes to developers? There's always jailbreaking...
In neither case has there been a substantial consumer backlash.
It's one thing to make the center console non-standard, it's another to prevent the installation through warranty restrictions.
And I don't know any manufacturer that will sell you someone else's head unit as an aftermarket piece. It's up to you to find out how to take everything apart and fit something else in there on your own, or to find someone who knows—basically, jailbreaking your dashboard. Except you generally lose stuff (like steering wheel controls), while I hear jailbreaking is pretty painless these days.
Edit: Apple's app store isn't some third party stereo store, it's a store owned by the manufacturer itself. And car manufacturers are famous for having highly priced proprietary replacement parts, especially when it comes to electronics like stereos, if you aren't willing to deal with an outside store/brand. I really don't see any way Apple's less flexible with the iPhone than a car manufacturer is with their cars.