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I was in your exact same situation, I took car to dealer for an oil change. I figured it would be a couple hundred bucks for peace of mind that it was done with the right oil, and also since car was out of warranty they'd be looking for things to fix on the car so I'd be aware of anything needing repair. They found a leaking oil filter seal and that was it, so I was much more relaxed having the car after that. YMMV...
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