From my personal experience, I say yes. Here's why:
Had a 97 Tahoe 4D\4WD. When I bought it everyone said "Don't get the warranty! It's just throwing money away!!!" Had about 70K miles on it when one day the transmission just goes haywire. I can barely get it to the dealer to have them look at it. They diag it, and the tranny says failure. They open it up and find that it's wrecked on the inside, all due to water in the transmission. Now, I had ALL work (except oil changes) done at a dealer and I had the transmission serviced about 3 months before, so I asked WTF? Anyhow, the dealer quoted me about $5k to replace the transmission (only option) so I got on the horn with the warranty company and asked them to cover it (per the warranty). However, it took them a week to send a guy out to look at it and then another 3 days to decide if they would cover it. Thankfully they did and all I was out was the $25 deductible (and the time).
As for present day, I bought my Kia used and added the 10yr\100k warranty on it (since the original 10yr\100k warranty is only for the original buyer) so that I know I'm covered. I don't want any surprises.