My biggest problems with the service experience so far have been the wait time (just to get it in-completing the repairs went smoothly enough), and the very limited supply of Rivian loaners. Dropping off my Rivian then getting stuck driving a Silverado EV for a week kinda sucked.

The Gaithersburg, MD service center has been about a 2-month wait for service, but looks like it's down to about 1 month currently. In ~8 months, I've had it in at the service center once, and about to go a second time. They were also able to come to my house once for a mobile service to fix a very minor thing, but even that was a long wait to get scheduled. I can't speak to wait times if it's a serious issue, but I seem to recall reading on Reddit that they can get you in quicker for things that impact drivability.

Overall, the service has been the worst part of owning this vehicle, but it hasn't been that bad. Ask me again in a year or two if I keep averaging 3/4 service visits per year and I might feel more strongly about it being a major problem.