As stated by several it is personal preference...
If you decide you want one - shop around... and pick right time to buy it.
With a new RV you get a 1 year coach warranty from Thor and 3 year/36,000 mile engine/powertrain warranty from Ford (or similar I assume if non-Ford chassis).
On used RV, the remaining engine/powertrain (if any) is transferable to new owner.
Buying the extended service plan (they are NOT warranties) at the time of a new purchase - don't forget the years they are including overlap with that warranty...
Plans bought at time of purchase are almost always paid upfront (or financed - ouch... look at the real cost of financing that for 20+ years...)
After-market plans allow paying monthly - changing deductibles to match your needs, etc..
Buying new - I would recommend holding off - see what your 'year 1' experiences are - and then buy after-market if you so desire before your warranty expires... (remembering you still have 2 years of engine/powertrain warranty left).
Buying used - depends on your risk tolerance... ability to fix things, and available time.
My last purchase was just under a year old... I did buy one covering the coach only at purchase... I cancelled that after two years as the powertrain warranty was expiring - and picked up an after-market 'pay by the month' plan to cover all. Doing it again - I wouldn't buy from dealer at purchase.
I do a lot of my own work - time can be an issue for me - and have really viewed it as more 'major breakdown' coverage rather then the 'little things'.
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