I have a 2017 I "upgraded" at 20K Miles, and never gave me any issues. My 2021 (Tremor) is at 1K miles, and I haven't considered it yet, but here are a list of pros and cons in my opinion.
PROS: Sounds Great, better for the truck if keeping long term, definitely more power, better throttle response,
CONS: requires tapping into the computer which voids warranty, temptation to drive harder which wears on motor, and allows motor to be pushed way harder than designed.
Overall it's an awesome upgrade, but you have to be willing to foot the bill on any issues that would normally be covered under warranty, and that as we know can be expensive. My 17 is a blast to drive I "upgraded" the exhaust and EGR. the EGR is horrible for the motor, and the DPF is a known issue to leave you stranded. So there's a gamble involved in leaving it or upgrading it, but leaving it will usually be covered. If you plan on keeping your truck for over 100K miles the EGR is what you want to do away with over the DPF. This system recirculates soot through the block eventually leaving the cylinder hone smooth and unable to hold lubricant. There is no such thing as longevity in diesel motors anymore with these devices. So you just have to weigh out the pros and cons alongside your plans with the truck and risks you're willing to pay for in case that comes up. This is honestly my opinion, and my opinion only. I'm sure you'll get many different outlooks and advice, but i hope this helped.