I bought the 2 yr policy in 2021 for a 2017 Model X.
So far it's covered - driver door motor/mechanism replacement, Autopilot computer replacement, control arm / ball joint replacement, steering column replacement and couple of other things I've forgotten.
In the 2 years I've had the policy all I've paid Tesla for is wiper blades and a cabin air filter change
Policy has more than paid for itself
No discussion was ever had re: warranty not paying. Didn't even need to mention I had the warranty, all sorted without any intervention on my part.