The R1200GS has been built for European road conditions and hence the suspension fitted is designed for paved road surfaces only. I am not sure BMW will even look at your warranty claim as the bike was used on road conditions it was not really intended for in the first place.
Both Ohlins and WP makes suspension that are designed to withstand the hard abuse of off road conditions.
Just keep in mind that even though the Ohlins suspension will be a lot more reliable and will improve handling, it will still not make the 1200GS a proper off road bike.
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