As has been said above, it's a normal maintenance item, not a warranty claim. There have been some unusual instances where spokes came completely loose at very low miles and did damage to wheel or swing arm, that were covered as a warranty claim. To some degree, that depends on the dealer and what they are willing to submit, and what part of the world you are in, as every Yamaha is not the same. Yamaha US is not Yamaha Canada, for example and have different warranty periods and processes.
As a general rule, you should check your spokes every oil change. The first 4k are more critical and you should check more often, depending on your riding style and distances, you might even want to check every ride. At least every 200-300 miles during that first 4k to be worry free. (that's my opinion, and it worked well for me with me often finding a few loose spokes at those intervals.) Pick an interval that feels right for you.
The simple truth is we have a unique spoke/hub design. The spokes on new wheels will work loose. Heavy torque loading or rough roads can make this more of an issue.
I do long distance riding and sometimes don't put a foot down for 400+ miles. For my peace of mind, I put zip ties at every spoke cross over point, loosely, with no tension on the spokes, (that can create other issues). This is just to catch a spoke if the nipple comes completely off. Yeah, it's probably overkill for my riding, but they are still there and I've never had a spoke come loose enough to lose a nipple. I carry some spare nipples and both sizes of spokes for the rear and front wheel too, just in case.
At 95k, I haven't come across a loose spoke in a long time. I still check them at every oil change. FWIW, I use an inch/lb torque wrench set at 52 in/lbs.
