I would highly question the integrity of the dealership in this instance. Part of the agreement between a dealership and a 3rd party ESA includes inspection costs...again, normally. I know that we do not charge our guests for inspections, becuase obviously the ESA pays the dealer, just like a normal consumer. This sounds like a service department trying to take advantage of you and I would suggest looking into other options. Is the "warranty" backed by the dealer or is it through a company other than the dealer itself? With my auto group, whom I work for we utilize Fidelity for our ESA's and such. The are a very reputable company and, though it's not 100%, people are generally quite pleased with the level of service they receive. If you are not satisfied with the package that you purchased, you should have the option to return "it" to the dealer and receive a pro-rated portion of your money back. For example, express to them that you wish to cancel this product and they should refund to you the difference of what you had paid vs what you have used.
Good luck!