the 2 year new vehicle warranty is in effect and is covered by the magnusson moss act. insofar as you can do your own maintenance, you can use whatever fluids you choose (as long as they meet required specs), etc.
but the warranty for life programs are very different. because they are not true 'warranties' but as jerry said, insurance programs, they are not covered by the mm act. they can put just about any kind of restriction in there that they want and still be legal. usually the big 'gotchas' with these programs are that you must have all your work done at the dealer, and, in a lot of cases, the specific dealer that you bought the bike from.
skip a service, have it done elsewhere, do it yourself, etc. and you've just lost your 'for life'....