For me it's about necessity/convenience. I work nights and live out in the boonies which makes going to the dealership a 100 mile round trip. Add up the time, lost sleep, fuel used at $3.59 a gallon and it's a lot easier and cheaper to do it myself. I jump on the Harley and make a trip to the dealership every 3 or 4 months and buy a slew of filters and I dump the old oil into used ERA containers and then whenever I make a Lowe's run on a Saturday I just drop them and the oil filters off at the Autozone.
As for warranty concerns I staple all the receipts into the appropriate page maintenance log.
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