Well, I have the same car you do (mine's an S, not sure about yours but pretty much the same) and my factory warranty just expired in July. I went with the WarrantyDirect SecureCare+ just before it expired. It's what they call an "exclusionary warranty" meaning everything is covered, "excluding" some things like the battery, brake pads, body panels, tires, etc. Since your's is out of warranty, you'll have to get an inspection first. Mine covers 4 years/75k miles and was about $2500. I also added emissions coverage which takes care of those pesky O2 and mass air flow sensors that seem to die all the time :P
I personally think it's worth it, though many disagree. If for nothing else than the peace of mind having the warranty gives. It even covers towing and roadside assistance should you get stranded/need to tow the car to the dealer. Check it out here:
http://www.warrantydirect.com
Oh and if you get a plan with a deductible (I got the $100 one), you only pay it once when you take the car in the first time. If subsequent visits are required to fix the problem, or there were mulitple problems on the first visit, you still only pay the deductible ONCE.