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I bought my 2003 disco with 68,000 miles last month in Dallas, TX at a Hyundai dealership. It was a trade-in. I bought a extended warranty through the dealership, 3 years or 36,000 miles for $2,600, it covers all major components. I think it was money well spent.
So, did you look into who will except the warranty if you have problems, that is a very important issue, many won't and you sure don't want the Hyundai dealer to touch it.