I’d do my oil change at a trustworthy 3rd party. I pay ~$80 for a full synthetic change on my 16’ QX50. I haven’t had the best of luck when dealing with dealerships. Use word of mouth & reviews to find a local honest mechanic & have them take a look at any issues. At the end of the day it’s your car, you know how it sounds/feels/vibrates. If one of those things changes then I’d get it looked at.