6 months/ 6000 mile oil changes

I drive my Sonata only 3000 miles a year. To not void the warranty do I have to change the oil every 6 months even though I've only driven 1500 miles?

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Per your owner's manual, you should at a minimum change the oil every 6 months or 7500 miles, whichever comes first. If you meet certain severe driving conditions, it'll be every three months or 3750 miles. You should check your manual.
If it were my car, I'd probably do the oil changes every six months if I hadn't yet gone 3k miles, but that has no bearing on the warranty question.
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yes

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