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In my experience it has been worth it. After my warranty ran out I needed a new key module, door sill replacement and trunk strut within about 3 months after purchasing it.
Tesla Service includes
•Annual inspection (or every 12,500 miles)
•Replacement parts like brake pads and windshield wipers (excluding tires)
•24 hour roadside assistance
•System monitoring
•Remote diagnostics
•Hardware upgrades