As long as you are using an API certified oil and the correct SAE rating, you are within the requirements of the owners manual, as it says if it doesn't have those two things then it "should not be used." So if you are throwing an API certified oil and correct SAE rating in, I highly doubt they have any leg to stand on at all in attempting to tie engine failure to your oil choice.
It then gives a recommendation (not a requirement) of "For best performance and maximum protection under all types of operating conditions, the manufacturer only recommends
engine oils that are API Certified and meet the requirements of FCA Material Standard MS-6395."
I would generally follow that recommendation as well. But if you are considering some of the other so-called "premium" oils out there, most will certainly already fall into meeting this recommendation. Redline, for example, notes that it is a suitable replacement for Mopar MS-6395L, M under OEM compatibility.
I also plan on having my dealer put it in for me still. I spoke with the service dealer for 30 minutes or more about oil, lol. He gave me his opinion on all the oils and never once suggested it would cause a warranty issue. I'd consider using PUP as well, but I'd have to buy it and bring it in as well.