21000 miles or 2 years, "which ever comes first." My dealer sales person informed me of this at purchase. Said the only real wear is tires and brakes, but he estimated the brakes would last 75K miles if you drive with regen braking for the majority of the time. I have a heavier foot, so I don't expect to last this long the way I drive the iPace.
They do provide full inspection when I go in for any other event like they did for the regen brake recall. I got the normal vehicle write up sheet that covers all the areas and everything was marked in the green section.