What inspections? I'm curious..
And they can only deny you warranty if you don't follow regular maintenance as described in the owner's manual.
The annual service (12/24/36/48... month) is about $250 and apart from the usual oil change ($35-$40), they say they road test the car, check for leaks, fluid levels, service the brakes - clean, lubricate, check hoses, suspension bolts, tires rotation, air filter check etc.
I'm not saying that these checks are not necessary, but the amount of money they charge for it is quite high IMO. Plus, do they do a thorough check? Not sure. For example today the service adviser told me that next time I should replace my rear brake pads. I immediately questioned his claim because I replaced the rotors and pads last year and I drove around 10K since, mostly on highway and suburbs. There is no way the brakes should be already gone. Plus you can tell that they have lots of meat left. The service manager will have the tech actually measure the pads and write it down.
The reason I'm reluctant to work myself on the car or take it to a different shop just yet is because, in case something happens for the next year, the dealer may say it's because of the work done outside of the dealership. If I do all the service at the dealer, if something happens, and they are the only ones who worked on the car, they may not try to give me hard time. Besides, the service manager knows me and he was pretty good at addressing all my concerns in the past (I had no problems getting the rust issue addressed last year and largely because of the relationship I have with him as a returning customer).