In Canada, Mazda Canada recommends service every 4 months or 8000 km with a major service at 24000/48000km etc. The basic service is not much more than an oil change and costs about 30 bucks. The 24000km service includes, among other things, lubing the caliper sliders. It cost me 200 bucks for this service, including tire rotation. Others on this forum have done the pick and choose approach to service and had only Mazda-specific service done at the dealer, and had routine service done by less costly methods. As long as the service is completed when due, and is recorded somewhere, the warranty will likely not be affected.