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We report the discovery of two transiting planets around the bright ($V=9.9$ mag) main sequence F7 star TOI-1670 by the Transiting Exoplanet Survey Satellite. TOI-1670 b is a sub-Neptune ($R_\mathrm{b} = 2.06_{-0.15}^{+0.19}$ $R_\oplus$) on a 10.9-day orbit and TOI-1670 c is a warm Jupiter ($R_\mathrm{c} = 0.987_{-0.025}^{+0.025}$ $R_\mathrm{Jup}$) on a 40.7-day orbit. Using radial velocity observations gathered with the Tull coudé Spectrograph on the Harlan J. Smith telescope and HARPS-N on the Telescopio Nazionale Galileo, we find a planet mass of $M_\mathrm{c} = 0.63_{-0.08}^{+0.09}$ $M_\mathrm{Jup}$ for the outer warm Jupiter, implying a mean density of $ρ_c = 0.81_{-0.11}^{+0.13}$ g cm$^{-3}$. The inner sub-Neptune is undetected in our radial velocity data ($M_\mathrm{b} < 0.13$ $M_\mathrm{Jup}$ at the 99% confidence level). Multi-planet systems like TOI-1670 hosting an outer warm Jupiter on a nearly circular orbit ($e_\mathrm{c} = 0.09_{-0.04}^{+0.05}$) and one or more inner coplanar planets are more consistent with "gentle" formation mechanisms such as disk migration or $in$ $situ$ formation rather than high-eccentricity migration. Of the 11 known systems with a warm Jupiter and a smaller inner companion, 8 (73%) are near a low-order mean-motion resonance, which can be a signature of migration. TOI-1670 joins two other systems (27% of this subsample) with period commensurabilities greater than 3, a common feature of $in$ $situ$ formation or halted inward migration. TOI-1670 and the handful of similar systems support a diversity of formation pathways for warm Jupiters.