daytrippr,
You got it right. There is no change interval specified unless you are on Premium maintenance or under certain driving conditions. As for warranty, so long as you follow the minimum Schedule 2 Maintenance, you should be fine.
Transmission Fluid/Oil, Differential Oil, Transfer Case Oil
Visually inspect for signs of leakage at specified intervals. If towing a trailer, using a camper or car–top carrier, or driving on rough or muddy roads, replace the fluid/oil every 30,000 miles or 24months (60,000 miles for cube, Murano,Altima, Altima Coupe, Maxima, Rogue,Sentra, and Versa CVT fluid).