Didn't void mine, of course the warranty part I needed was under the 60k, not 30k. But I had not been to any dealer for anything other than for a warranty reason (accellerometer, leaking output shaft), and I still got free work due to the warranty
I've done my own maintenence to include oil change, tire rotation, small repairs, inspections, servicing of parts. So, if your dealer says they want to inspect your car at 30k and 60k, expect them to also charge you an insane amount of money for very little work
And everything is in your owners manual, schedule-wise, so check it out
But just so you know, I am NOT one of those ppl who gives my car to the dealer every 20-30k miles to do nothing but look at stuff when I can do it myself