Wow... I just read the service manual and that is nuts. It does say that the service interval is 4 years or 40,000 miles, but that doesn't help your problem much. I guess it would save you some cash if you could pull your own forks and take them to the dealer to have the oil changed.
Have you talked to your dealer about your crappy fork performance? Sounds like a warranty issue to me. In the auto world we swap out struts ect all the time under warranty just because of poor ride quality or noises....