This paper considers a general repairable product sold under a failure-free renewing warranty agreement. In the case of a general repair model, there can be two types of failure: Type I failure (a minor failure), which can be rectified by minimal repairs; and type 11 failure (a catastrophic failure), which can be rectified only by replacement. After a minimal repair, the product is operational but the failure rate of the product remains unchanged. The aim of this paper is to determine the optimal warranty period and the optimal out-of-warranty replacement age, from the perspective of the seller (manufacturer) and the buyer (consumer), respectively, while minimizing the corresponding cost functions. We prove under mild conditions, that the optimal solution of minimizing the cost function exists and is finite. Further, a concise numerical example is demonstrated, and the sensitivity analysis of some of the parameters related to costs is carried out as well. Finally, some practical aspects of renewing the warranty policy for the practitioner and reader are addressed.