Yes, they do. Ours was not an insurance job so it is a different case than yours, but it answers the general question.
Our 310RL is a 2021 and well out of warranty. We hauled it to the Elkhart service center and paid for the work ourselves: kitchen slide floor, a new window and new slide skis, and a screen door. The bathroom door was the one warranty item in the mix. The rig sat about a week.
Worth knowing if you are weighing the drive: our dealer is 25 minutes from the house and Elkhart is five hours. We went anyway and would do it again. They also check every appliance on the way in and on the way out, and that caught a furnace sail switch we had no idea about - furnace would light, run about 30 seconds and quit.
Danny, the tech who did the work, walked us through every repair at pickup and we filmed it, so you can see what the shop and the finished work actually look like:
Written version with the detail:
https://rollingwiththecurves.com/alliance-rv-factory-service-center-out-of-warranty/
For transparency we are Alliance ambassadors. We paid for the slide floor and the screen door ourselves.