I had similar thoughts about impacting the warranty (although I think it's unlikely). I connected mine into one of the front 2 USB slots but hid the wire between the headline, down the A pillar, between the glove box and carpet and then came out at the side of the centre console and into the USB C slot.
Just check if your camera can be powered via a usb C cable, mine won't, even though the dash cam has a usb C slot. I had to convert with a short usb c male to usb a female cable and then connect the camera with a usb A to usb C 3m cable.
I also used a power bank for using the camera in park mode; I even charge the power bank from one one of the rear usb slots, when driving around
All in all, a little bit convoluted but saves any warranty issues or risk of running down the car battery, when in park mode.