It depends on the make and model of the wetsuit and the fit of the wetsuit.
A rashguard probably won't make much difference in fit since it shouldn't interfere with any of the seals, maybe around the neck, but I don't think that there is any warmth advantage with a rashguard or lycrasuit. With modern lined wetsuits a rashguard or lycra doesn't serve much purpose.
The stirrups on a lycra may create a slight gap in the ankle seal of the wetsuit but the seal is snug enough that if any water gets in it will be a few drops. The theory of wetsuit warmth is to minimize the flow of water through the suit so that your body has a chance to warm what little water enters.
Every wetsuit will let a little water in. You want to purchase a good quality wetsuit that will actually do what a wetsuit is supposed to do, minimize water flow through the suit so that your body can warm the water in the suit and use it for insulation. My advice is to purchase a quality wetsuit with a Merino wool lining. The Merino wool lining is exothermic, it absorbs your body heat and passes it to what little water enters the suit. The neck collar seal on the Pinnacle combined with the excellent wrist and ankle o-rings or zipper seals will make a big difference. The Merino wool lining also eliminates the cold-clammy feel that you get when you take your wetsuit top down between dives then put it back on. Maybe that is why you want to wear a lycra under your wetsuit, if so the wool lining should solve your discomfort.