I would check zeiglerfordesp.com I got my Raptor back in January and the dealer wanted something like $2500 for a 2 year ESP warranty. Did some research and found that website as well as others selling the Ford ESP. I haven't pulled the trigger on getting one yet since I have the Ford CPO right now but Ziegler had a 6 year 120k mile warranty for $2100. So for $400 less I could get 4 more years and about 30k more miles. So I would say look around online or at other dealerahips for the ESP if that dealership won't come down off that $5000 price tag. Ziegler is quick to see what your options they offer would be and to give a comparison.