Definitely get your valves checked. While they're at it, have them do spark plugs, coolant, and air filter since its basically on the way to checking the valves.
2 years is a good rate to get your forks done and if you're aggressive, even yearly is a good rate.
I would shop around for a mechanic. You're definitely going to get robbed at the dealership. You're probably looking at well over $600 at a dealer, where a mechanic may charge you only $400 for stuff like that. Like the dealer may bill you separately for the labor for the plugs/coolant/air filter. Where a mechanic, since he's saving time by doing them all at once, will give you a break in labor.
Some dealers will cut you some slack. If there pulling the radiator to check the valves, only charge for coolant, same with plugs and air cleaner.. Others like you said will charge what the chart says not taking into account there already there.
Just about every one of my valves needed to be adjusted at 21k miles.
Since it seems your handy. Pull the cover and check the valves yourself.
Then you have a base to KNOW if your going to pay for the shim's.
Also if there all in spec and they say they need to be adjusted it's time to look for another service center.
I did not have a local mechanic do my valves.. Why, he wanted $400.
Knowing what the parts was going to cost. There was no way he could use OEM parts or do it properly for that.
If I charged it would have been $600, 300 parts 300 time.
The fluids etc would be parts cost only.
OH, while there do the plugs.