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Do you plan to keep the truck for many years? I do so I went ahead and purchased the extended warranty. I think it is 7yr/100,000 miles but I got mine at cost. If you're going to sell it in <5 years then I wouldn't bother. Save that money.
I have a couple other vehicles, so I got the 7 year warranty but only with 60,000 mile coverage to save money. You have until the end of the 36-month original warranty to make any changes to it (such as adding mileage to the warranty in case you are putting more miles on it than you originally thought you would). You just have to pay the difference.
I went for the extended warranty because it is the first model year. Not for any real specific reason, just piece of mind.