The V10 is the simplest engine to change oil on in a motorhome that I have ever seen. It literally just needs a dish pan to dump it into, and an oil filter wrench. Getting underneath is easy with a piece of cardboard.
If I am on a trip, I check the level and know where it is at, but might run up to 5000 miles or even longer with long trips. Using the rig infrequently while at home and shorter trips.. it's just fine to let it sit for 3000.
Sometimes rigs only get used to go to the lake, and it can take forever to even get 3000 miles.. In the fall, change it before use falls back to winter storage in any case.
And for warranty, follow their strict directions and keep your records every time you do it.