I worry about this a little with my Madone 4.7 because I am clumsy and I am afraid I will do something to hurt the frame, and if I had to make a claim Trek can't replace it because they don't make that frame size anymore. So, I am not sure what would happen.
The very few people I have heard talk about making claims to Trek on their frame warranty have reported a good experience.
Trek Madone 4.7 WSD
Cannondale Quick4
1969 Schwinn Collegiate, original owner
Terry Classic
Richard Feynman: “The first principle is that you must not fool yourself and you are the easiest person to fool.”