I took my motorsickle to the stealership for it's 500 miles service. When I got home I had to drain out TWO cups of oil. I couldn't see air in the sight glass at all. I still have that oil to this day 5 1/2 years later. I called them and they said I shouldn't have done that. Why ask I? Well we wanted to see were the oil came from! What is that word I am searching for? Hum...it rhymes with boron. Whew. I am getting worked up.
So,
Anyway, technically and legally NO you can perform all your services including the first 500 service. Having said all that 99% of the stealerships won't question your warranty IF you let them perform the first 500 service. The thing is you have to inspect everything they said they did.