Ask for an invoice for your treatment, it will most likely show the service as "good will", mine did, even when I asked to change it to warranty coverage, they refused.
As for it being a one time service, I asked the service adviser about it, and that is the answer I got. Now, you might say "it's just a Tesla employee, they are wrong", well, first, the guy was new, and he got onto some Tesla internal chat system, took a couple of minutes, and he got the answer which he relayed to me (along with the comment "wow, Tesla definitely does things differently than any other car dealer I worked for"). In the end, Tesla service is what employees provide, you saying "Tesla will offer service X" but employees declining to provide it, basically means Tesla is not offering it.
So, to be precise, my invoice for yellow screen says "good will" and the advisor informed me it's a one time service. We can only go on what customers report, because Tesla never releases any statements. Unless of course you can point us to an official statement from Tesla that says yellow screens are covered under warranty?