Every time I've purchased Ford ESP, My vehicle was still under the Ford 3/36 OEM warranty. If that is the case, I don't think they will care about the inspection as they are already obligated for any repairs.
I'm going to be in a new situation next year. My 2017 already has a Ford ESP plan which is due to expire in May of 2025. At that point, the truck will have approximately 60,000 miles on it (55,000 now) and I would be looking to purchase another Ford ESP contract.
Does anyone see any issues in purchasing a new contract at that point?