I just rolled 30k on my 2011 and have been kicking this around also. I am leaving for a 5000 mile ride this Saturday, so the warranty is basically over.
The bike has been bullet proof. I am going to wing it sans-warranty. Whenever something does go south on it, I will have the option of tearing it apart myself to save some money (shipping the FD off for repair instead of sending the entire bike, for example). I couldn't see spending $2000 for a warranty I may never use. Better (at least for me) to keep $2000 in savings ready to use when something does go.
'12 R1200GSA, '85 K100RS, '75 R90/6
NEEDED - REAR WHEEL FOR A 1200 GS ADVENTURE - PLEASE PM