To purchase an ESP or not really comes down to a personal choice. Not everyone buys them. There are several factors to take into consideration such as the length of time you plan to keep the vehicle, vehicle reliability, would any future repair cost more than the warranty itself, your ability to pay for any future repairs. One thing to keep in mind is that the ESP you buy, begins on the date the vehicle was first put into service. So for example, if you purchase a 48 month ESP, it will only cover you for 12 months beyond the factory warranty assuming you haven't exceeded the mileage. I have bought extended warranties for 4 vehicles (3 Highlanders, 1 Explorer) and only had to use the warranty once to replace a tire. Looking back, I would have been at least $4000 ahead now by not buying them. I consider it somewhat like an insurance policy just in case something really bad goes wrong. Would I buy one again, hard to say, but probably. Also, not all offer 1st day rental coverage.
I think the info regarding prices and coverage you seek is all in this thread in previous posts. Good luck.
Peter