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you can use any oil that meets the requirement set by the manufacturer. For example, if they say oil that meets TCW3 is required, any oil that meets that standard will retain your warranty. Synthetic oils usually keep the valves a bit cleaner, but don't necessarily protect the engine as well as non-synthetic oil.
Some oils don't mix with others very well, so if you have to mix in a pinch, ride until your oil is almost gone before adding (or siphon out the oil as best you can before refilling with the different stuff.
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