Hi twcaldwell,
Yes you can take your rig to any Heartland dealer for warranty work. However, you should check with the dealership. Some dealers will be happy to help you. But some dealers are so busy that they prioritize their own customers ahead of others. A few may decline. If you find an independent repair shop or a non-Heartland dealer close by that's willing to work on your trailer, call Heartland Customer Service at 877-262-8032 / 574-262-8030 to get prior approval to use them. Heartland may want to verify their service credentials, but they're usually pretty flexible about authorizing alternative service providers.
If you have a failure within the 1 year warranty but aren't able to take the trailer in for service immediately, call Heartland to discuss. They will probably log the issue into their system and allow you to get it fixed at a later date. I don't know how long they'll allow you to defer the service, but I expect they'll try to work around your specific circumstances.