If you want to root your Android Samsung device without resorting to a custom recovery then CF-Auto-Root is the tool for you. It enables elevated privileges, while keeping things as close to stock as possible. A voided warranty is no good, so there's a tool for that, too.
The approach is similar to stock because CF-Auto-Root only installs the SuperSU binary and APK as well as the stock recovery. The first two are used to manage root access on Android, while the latter overrides any third-party recovery. Elevated privileges are basically granted after flashing the CF-Auto-Root package for the Samsung device as PDA in ODIN.
CF-Auto-Root requires an unlocked bootloader in order to successfully flash the rooting package. Manufacturers implement a flash counter to keep track of how many times a custom firmware was installed. In order to reset it after you flash the CF-Auto-Root package the developer recommends using Triangle Away.
The number of supported device is rather impressive and includes the Samsung Galaxy Nexus (including LTE versions), Galaxy S III (including US variants), Galaxy Note II and Galaxy Note 10.1 among others.