This number does call and say your car warranty has ended. WHAT this call is all about is, than the robot will ask if you want to talk to a sales person. THAT IS THE SCAM, they want your voice recorded saying "YES". Do not say yes.
No, the scam is they'll try yo sell you a useless car warranty. Saying "Yes" is not a scam, just an unsubstantiated rumor with no documented proof of anyone actually being harmed by simply saying the word.