You should plan on the inspection before the 1 year warranty is up, you can do it any time so that it is completed before the warranty runs out. We used Frank DeAngelo and were very pleased with his work, found several things I would have never found. Note he is typically booked 2 to 3 months out, so plan ahead.
As for your specific question I do not see the need to have an inspection immediately for a new house, just be careful with any changes that you might make which could void the warranty.
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Pennsylvania, for 60+ years, most recently, Allentown, now TV. 
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