I think some of the confusion is due to the fact that the Warranty Guide for 2016 and 2017 models covers this issue;
(3) Your vehicle’s body sheet metal panels are covered for an extended
Corrosion Coverage Period, which lasts for five years, regardless of miles
driven..............If aluminum body panels have corrosion or rust damage,
and the damage is not the result of abnormal usage, vehicle accident,
customer actions and/or extreme environmental conditions, the corrosion
or rust damage repairs are covered for 5 years, unlimited miles.
blwnsmoke is correct in that the ESP does not cover paint. The ESP is not a direct all inclusive extension of the factory warranty. It has certain exclusions such paint, trim, upholstery and several other items.