You have to decide what "peace of mind" is worth to you, but I agree that it's not as easy as it sounds. I would be very tempted, based on the cost of repairs. If you don't choke on the initial cost, the peace of mind you get lasts 2 years and you forget about the cost. Assuming the warranty is a good one, it's pretty fun to walk away from an expensive repair that didn't actually cost YOU anything. Conversely, fighting with the warranty provider after paying for it would REALLY a irritate me!
But this is an exceptionally reliable car. I believe I would take the chance that it won't be breaking anytime soon, and save the money.