I've never had to do any work at the dealership in order to retain warranty. I've had our vehicles serviced under the manufacturer service intervals though but that never included any type of warranty inspection. On my mom's Genesis, it never had any service work done at the dealership. At the beginning of year 4, I had to take her car to the dealership to have the heated seat looked at. It was the first dealership visit and the guy was surprised that the car had no service history. The warranty work was done with no questions though.
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