I'm not trying to discourage anyone from taking their bike to the dealer for service - especially while it's under warranty. But I chose not to.
The dealer will change the oil and final drive gear oil - both of which are very easy. They should also check the torque on an array of bolts - which are listed in the back of the service manual (you'll need a torque wrench). And, lastly, they should check the sync on the carbs. I bought a TwinMax carb synchronizer box for this but there are also directions on the web for making your own apparatus.
When it comes to servicing the bike - I believe that you only know it was done right (and done at all) if you do it yourself.
If I missed anything I should be doing please let me know.
Mark