I purchased ESP as well at the PremiumCare level. Word of advice is that before you walk in the dealership, check out prices online from other Ford dealers. My truck I didn't have time to do any research before buying ESP and ended up getting it from my own dealer who charged more. I cancelled my ESP plan within the refundable 30 days from my dealer and purchased it online as they offered more coverage for less money. But as I went in for tire vibration two days after purchase, I got dinged a little bit on the refund.
I also purchased the more controversial maintenance plan. A lot of people see this as a simple oil change with tire rotation, but I also read it covers some wear and tear items, the main item being shocks. The verbiage in PremiumCare doesn't specifically mention shocks under the suspension category, and I didn't want any surprises if one of those shocks failed.
One more thing, just read all of ESP plans and what it covers. Some don't have bulb coverage. The rear tail lights on this truck are full LED's, and if they are anything like my neighbors GMC Denali, the whole housing has to be replaced rather than a simple bulb. His out of pocket cost was $600 to have one side replaced at around 40k miles. Drives me insane when I see some people driving around with a LED burned out, now I know why.