Catalytic converters are not covered, muffler is not covered. I have had one replaced catalytic converter replaced by dealer at around $1200, replaced heater hoses, can’t remember exact cost, around $600, I have read a few comments in the forum of the muffler packing blowing out, not sure what that cost might be.
Cam phasers and transmissions are covered. Not sure about sun roof or power running boards.
My dealer said to read carefully the items covered on the ESP warranty brochure, as if it is not listed, it likely will not be covered.
Maintenance items like spark plugs, fluid changes and brakes are not covered.
My 2018 Expy with just 100k miles and the ESP has cost me around $0.10 per mile in maintenance including tires, battery, $100 deductible on warranty repairs, all maintenance performed by dealer; I have dealer change all fluids on my 4 X 4, not including the cost of the warranty, insurance or fuel.