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As many others have mentioned the "Fall Away Test" will should determine if your head bearings are in need of adjustment or servicing. Hope this helps. This video will give you an idea.
...YOU should not have to pay for them to diagnose or repair a warranty issue. ...
What if problem is due to physical damage or impact, and not warranty? The Dealer has no idea that the owner is an excellent driver, and he has not damaged the bike. I would expect it to be warranty, but until it's diagnosed, no one can say it is or is not warranty.
It would be reasonable to drop off and sign for $x to check out, with the understanding that when it is found to be warranty, it is no charge at pick up.
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