It's in the manual as complimentary, so they should. I did not see a requisite of previous POS's being completed.
As far as OP having 3200 miles - I'd agree with the dealership. Opportunity missed on complementary. I feel as though the payment of POS is WELL worth it. A little of advice from a ~long time owner. 2 years ago my clutches were slipping occasional... Eventually over the next few days it got really bad, almost would not stay in gear for a minute at a time (felt like someone releasing and grabbing a clutch while still in gear). Took to the dealership (5 years into ownership), had POS, car ran like new. 2 years later, I'll probably take it back again. Worth it. Wouldn't do it more than once a year, but if you missed the first one - I'd definitely recommend it as soon as you can do it. A lot of things can be adjusted and PREVENTED if done soon enough.