Yes, they have to. Part of the requirements of being a dealer. To me that's one of the main reasons the inflated prices of Specialized are worth it - you can't throw a rock without hitting 2 or 3 dealerships it seems.
They will, though they may take their time if busy and you did not buy your bike from them. That is why I bought mine local. I just bought a Pivot e-bike MTB but ordered a Specialized road/gravel e-bike...both local.