Can warranty be voided for lack of maintenance?

Dear Driving for Dollars,
I just bought a new car and was reading through the owner's manual when I noticed it says that my warranty may be voided if I don't have the car serviced every 10,000 miles. Do they really enforce this? Does this mean I have to keep proof for several years that I've met the requirements? Or is this all just to scare me into keeping it lubricated?
-- Frugal Frank

Dear Frank,
Always follow the manufacturer's oil-change schedule and keep receipts in a file. While it's unlikely you will ever refer to them, they will be worth their weight in gold if you have major engine problems related to lubrication failure.

Toyota has had a run of problems with some engines failing due to sludge in the system. Some owners have had problems getting replacement engines without documentation of regular, on-time oil and filter changes. But don't go overboard and change oil more often than recommended by the manufacturer -- that's just wasting money.