Well, there are three improvements possible:
1) Change the stock speakers, atleast in the front to components.
2) Add amplifier to power these front components
3) Add a subwoofer and an amp. to power the subwoofer.
For options 2 & 3, we can make use of a single 4-channel amp. since it has 1 pre-out, we need to use a
Hi-Lo or LOC to connect the signal lines to amp.
None of these options void the warranty.