well, I am in the same situation after I bought mine second hand. Strictly speaking, you missed annual service and that will affect warranty... How, it's anyone's guess.
In my case, I just went ahead with a "catch-up service" and then another "mileage" one within few months, haven't asked anything of anyone - sometimes best not to poke around asking for trouble.
If something happens, I'll claim under warranty but I'll have to accept that it might be a bit of a fight .. My guess is that it depends on what goes wrong and how lucky you are; something that regular service would not affect should/could be covered .. but, it may be an uphill struggle and a costly one ...
First, read warranty cover in detail - not everything is covered for 7 years. Some things are only 6 months, some 12 months ... so unless your battery pops, I wouldn't worry much about the rest as it may not be covered any more anyway ...