In my reading to date, I've not seen any information about how Rivian will handle service work, like what's available from traditional car dealerships. Given Ford's large investment in the company, and Rivian's use of Ford F-150 bodies to provide cover for platform testing, I'm guessing Ford dealerships may provide service and warranty work?
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Rivian has not officially announced how servicing and maintenance will be done but they have said it will NOT be via Ford service centers.
There are videos of Rivian employees being asked about the potential for "white glove" service and their responses are similar to what Tesla does. Rivian will first attempt to fix any problem remotely (OTA). If that doesn't resolve the problem they will send someone out to you to diagnose and fix the problem. If the problem can not be fixed on the spot they will leave a loaner vehicle for you while they flatbed your Rivian to a service center.