Soft-Bricked Samsung Galaxy S5 - "Set Warranty Bit: Kernel"

I recently did some stuff to my Samsung Galaxy S5 UK (SM-G900F) on Three and Marshmallow 6.0.1:
(In order)

1. Successfully install TWRP using Odin


2. Successfully root using Chainfire's Systemless Root


3. The message 'Set Warranty Bit: Kernel' starts appearing on the Samsung Android logo during boot, but it still works fine. (I think this means I voided my warranty.)


4. Successfuly install BusyBox using this app


5. Install XPosed Framework ArmV7 version, following a guide I can't find any more, but I got my file from the official XDA thread

Now when I rebooted my phone after installing XPosed, it gets stuck on the Samsung Android logo with the 'Set Warranty Bit: kernel' message. I can get to TWRP by (steps, not methods):

1. Removing and replacing the battery


2. Plugging in the charger


3. When the battery charging animation shows, pressing Home+Power+VolUp

What I would like to know is:

• Should I restore it using Odin?


• If so, with a Stock or Custom ROM?


• If not, how is it recoverable?