I believe the practice is that if draining your battery hurts your battery, then the warranty doesn't apply. Draining the battery isn't horrible by itself...but you certainly wouldn't want to make that a common practice.
IANAL and I don't represent Tesla. As always, read your owners manual and warranty, be nice to your battery pack, and don't press your luck.
Thanks for straightening me out, Tom. It would make sense for Tesla to build some sort of safety net in the batteries beyond the Range Mode barrier to prevent accidental ruining of the battery pack.