LOL. I've been doing my own oil changes for as longs as I can remember on new cars, motorcycles, etc. It's never voided a warranty. Now, if you are silly enough to leave the oil filter's gasket attached to the engine and install a new one on top of that....You will be paying for that one.
One of the best things I bought for my coach was a Fumoto valve. Flip it open, let it drain, close it and refill. For the filter, get it loose, put a Ziploc bag around it and remove it.
2014 Georgetown 351DS
-TruCenter -Front/Rear CHF -Hellwig Links -Tiger Trak -Ran McNally GPS -ScanGauge -Truck Systems TPMS -5 Star Tune