Thanks guys. ESPs are expensive regardless of where you get them. For me, I wanted a Harley ESP so I went searching. Here is what I found.  
Regarding cost: I shopped around to four dealers and found a vast difference in price. Once I had the best prices I called back to dealer #4 who is closer to my house and also the dealer I want to do repairs when I am not on the road. I asked dealer #4 to match the 48 month from dealer #3 ($2654) and they agreed. Of course they agreed! That's expensive, but for me its peace of mind for the next 6 years (I just bought a 2020 CVO Limited in December).  
Months of coverage past original warranty   Dealer #1       Dealer #2   Dealer #3       Dealer #4
12 (1 yr)                                                   $1539      -               $1399           -
24 (2 yr)                                                   $1954       $2604           $1724       $2099
36 (3 yr)                                                   $2489       $2718           $2164       $2650
48 (4 yr)                                                   $3109       $3383           $2654       $2870 (Purchased at $2654)
60 (5 yr)                                                   $3504       $3786           $3169       $3200
So, if you are new to this game the best advice is to shop around. I'm sure you can find a much better deal than I got but I enough shopping was enough - I've got other things to do. 
Ride safe.