In theory 'NO', in practice probably 'Yes'. If it is serviced by a reputable bike engineer and any subsequent claims are clearly not connected with any service work you will/should be OK. My fear was that if any claim arose that could possible be linked to a service item you'd be in trouble.
Your choice.
As for costs, my understanding is that there are or were two main services not really linked to specific miles as such but were annual or interim. Most modest mileage riders would just have annual services. You'd need to ask your dealer for accurate quotes but I think £150 ish for interim, and £225 ish for annual was the order on my 06 650GS when I was doing some miles. Difficult to remember as there was always non-service stuff like tyres in there too.
HTH