Did you by chance get the Yamaha insurance policy?
Previously, the program was called "Y.E.S" (Yamaha Extended Service) but now seems to be called "G.A.P" (Guaranteed Assistance Program). Looks like regular gap insurance to me, and I'm not sure if the Y.E.S plan still exists.
There were stipulations on engine oil and other things that would cover you in the off chance you had a claim.
Here is some information about all that:
Yamaha GAP Insurance | Yamaha Extended Service Contract Y.E.S.
Gap coverage if your primary insurance will only cover the Yamaha vehicle’s current cash value.

If you did not add this extra coverage, then it won't apply and you'll be subject to the regular terms/conditions of the manufacturer's warranty.
Did you get any paperwork from the dealer?
I'd start with that info first.
If you didn't, I'd make the dealer get it to you in writing.
For service manuals you can purchase them here: