In my experience, No.
When I bought a 9600, I bought a 1-year support extension. The printer was very reliable, but I did have technical questions about media, so I called. Responses were uniformly awful and I found better information in these forums and elsewhere.
Extended warranties can be thought of as a form of insurance. SquareTrade sells extended warranties at a lower cost, measured as a percentage of the purchase cost of the printer, than Epson charges. (I don't work for SquareTrade, but I have purchased their warranties.)
Many Visa, MasterCard, and American Express cards also extend the manufacturer warranty for an additional year, but terms and conditions vary.