VW requires oil service at 10,000 miles or 12 months, whichever comes first. If the first oil service wasn't done until the car was 2 years old, you would have most likely been denied warranty coverage, even with the stamp.
In the US, as long as you have receipts for the materials, in this case oil and filter, that meet the manufacturer's specifications for compatibility and are dated within a reasonable time of the expected service, you can perform the work yourself. You do not need a stamp. You do not need actual proof that you performed the service. The warranty must be honored.
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