It's basically a forced savings plan. If you have the self control to save some money each for future repair and prefer going to a good indy shop, then avoid the warranty. It's surprisingly limited and can be a pain to get the dealer to do work that should be covered.
So save the $2K+ for a rainy day. Odds are you won't have that much in repairs as long as you take good care of your car (regular oil changes, inspections, etc)