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Banned from what...? If you mean void the warranty, then yes it can. But that's only if they find out.

No, I don't think so

no ive had multiple rooted phones, nothing happened

No it cannot. I have been running the same rooted phone for over a year. I have flashed more custom ROM's than I can count. If you could it would have happened to me a long time ago. Google does not care, it's the manufacturers that care. For example Motorola has an encrypted bootloader that makes it very hard to flash a new ROM. If you screw something up on a newer Moto your phone is bricked.

You have no worries. It does void your warranty but most custom roms can be uninstalled and your phone can be flashed with a stock rom which will usually restore your phone to what is what shipped as.