No way!
There is a law (someone will tell you the name of it) that covers this exact scenario. The bike is warrantied, nowhere does it say you have to do the prescribed maintanence at a dealer. I do all mine except I let the dealer do the first 600 mile check up, I did the oil myself though.
I am now out of warranty, never needed it either!
Do it yourself, nothing to it. And don't bother buying the Trump backlash tools, a pair of 4mm allen wrenches or a couple 4mm bolt will work fine for the backlash. I got 2 little retainers that member BUDWEISER sent me and they are just 4mm screws with the tops cut off and one end filed down slightly narrower that the other. Simple 10¢ parts. If you want Here's a picture of them, very easy to make yourself with a drill and a file.

Again, Thanks to BUDWEISER for the tools!