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We must remember that the factory recommendations regarding oil pertains to the life of the vehicle. If we assume the life span of an average twin to be 100k miles, then 20 miles represents 0.0002% of the expected average lifespan. Is that enough time/miles to do do irreparable damage to your motor? Possibly, if your motor is being operated with thick oil and a high oil pressure. But from the evidence that has been presented, I'm not convinced having transmission fluid in your motor leads to the type of damage that demands a full replacement of the vehicle (at least for the 20/30 miles described by OP). On the contrary, I'd say the evidence suggests - thus far - that no damage may have been done at all. Again, an extended warranty and VIP treatment seem like a pretty sweet come-up.
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