I have an ESP plan on my 2008 Taurus. I haven't had too many claims yet. I had a similar one on my wife's 2005 Honda Odyssey, and I pretty much broke even on that one. I had one on my 2004 Accord and came out way ahead when the ECM died.
Bear in mind that the years on the ESP plans are from when the car was delivered to the original owner. So a 7 year plan gives you 4 years over the 3yr/36000 mile bumper to bumper warranty and 2 years over the 5yr/60000 mile powertrain warranty.