Mine used to do this now and again especially when hot and after sittingin traffic with lotsof gear changes.
Id go for a good drive, have fun, lots of gear changes and then when it starts pop in to the garage. Notify them in advance so someone will be available to see the issue.
As neil says if its a warranty claim the garage will be more than happy to do the work, its the warranty company who has to agree and fork out for it.