Hm, my Google Fu is coming up with nothing definitive. Lots of people claim there is one, but no proof beyond their words.
Honda apparently has a corporate policy to do so, but no other company does that I can find evidence of. There's a .pdf of the actual Honda policy for the front seat belts that dates back to the early 90s floating around on the internet.
If your friend goes, I'd tell him to mention the seat belt and if they deny, just say, "I thought there was a federal law mandating a lifetime warranty for seatbelts. I mean, it's a safety issue." That seems to have done the trick for a few people who got initially denied by their dealership.
You could try that - however the dealerships hands get tied as warranty work is approved through corporate - the dealer really has no say unless they take it upon themselves to do so. The tech will take photos of the issue, explain the problem and submit it for approval to corporate.
They have some leeway for goodwill. At least Toyota does. You'd be amazed what certain employees can get away with as "warranty" repairs/replacement.
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